Robot-mounted mobile device and positioning control method for system

A robot-mounted mobile device including a robot performing an operation acting on a target object in a machine tool having an openable and closable door, wherein, as information related to a first device position as a position of the robot-mounted mobile device, a position of an identification figure at the first device position in a first axis and a second axis set in a plane parallel to the identification figure is set as a first identification position, the identification figure being arranged in the machine tool,

• the robot-mounted mobile device comprising:
• the robot having a structure in which (i) a hand unit for gripping the target object;
• (ii) a second arm unit to which the hand unit is movably connected;
• and (iii) a first arm unit to which the second arm unit is movably connected are connected together in sequence, and having (iv) a camera arranged on the hand unit side opposite to the first arm unit;
• a control unit controlling a position of the hand unit of the robot;
• and
• a moving unit configured to be movable with the robot mounted thereon, wherein:
• the control unit is configured to detect an open/closed state of the door based on an image captured by the camera;
• and
• the control unit is configured to, based on a second identification position as a position of the identification figure in the plane when an image of the identification figure is captured by the camera at a second device position different from the first device position,
• when the second identification position is within a predetermined range from the second device position, adjust the position of the hand unit, and
• when the second identification position is not within the predetermined range from the second device position, adjust a position of the moving unit by moving the moving unit.