Method Of Determining Control Position Of Robot And Robot System

A robot system determining a control position of a robot, comprising:

• a robot;
• and
• a control unit that controls the robot, wherein
• the control unit executes
• (a) processing of acquiring N real reference positions in a real space and N control reference positions in a robot control coordinate system when a control point of the robot is located in the respective N real reference positions, N being an integer equal to or larger than three;
• (b) processing of setting M figures having vertices in a plurality of real reference positions of the N real reference positions within the real space, and obtaining a transform function expressing a correspondence relationship between a real position and a control position within each figure, M being an integer equal to or larger than one;
• (c) processing of receiving input of a target position of the control point in the real space;
• (d) processing of selecting an object figure for calculation of a control position for the target position from the M figures;
• and
• (e) processing of calculating a target control position as a control position in the robot control coordinate system for the target position using the transform function with respect to the object figure.