End effector, robot system, control method of end effector, control method of robot system, manufacturing method of article, and computer readable medium

A robot system comprising:

• an end effector including a base portion, an imaging apparatus that is supported by the base portion and is configured to capture an image, and a tool that is movably supported by the base portion and is configured to perform work with respect to a workpiece;
• a robot to which the end effector is attached, the robot being configured to move a position and posture of the end effector;
• and
• a control unit configured to control the robot and the end effector,
• wherein, in a case of capturing the image of an imaging object by the imaging apparatus, the control unit is configured to position the tool supporting the workpiece outside of a range in which at least part of the tool or the workpiece supported by the tool overlaps with the imaging object in a field of view of the imaging apparatus.

A robot system comprising:

• an end effector including an imaging apparatus and an irradiation unit configured to irradiate light in an optical axis direction;
• a robot to which the end effector is attached, the robot being configured to move a position and posture of the end effector;
• and
• a control unit configured to control the robot and the end effector,
• wherein,
• when performing alignment control to align the end effector with respect to an imaging object based on an image captured by the imaging apparatus,
• the control unit is configured to capture the image of an imaging object, that includes a flat surface portion formed in a planar shape and an inclined portion inclined with respect to the flat surface portion, by the imaging apparatus in a manner irradiating by the irradiation unit such that an optical axis of reflected light reflected at the flat surface portion is directed toward the imaging apparatus and an optical axis of reflected light reflected at the inclined portion is directed toward a direction away from the imaging apparatus.

A control method of a robot system including

• an end effector including a base portion, an imaging apparatus supported by the base portion, and a tool configured to perform work with respect to a workpiece,
• a robot to which the end effector is attached, the robot being configured to move a position and posture of the end effector, and
• a control unit configured to control the robot and the end effector, the method comprising:
• a positioning step in which, in a case of capturing an image of an imaging object by the imaging apparatus, the control unit positions the tool supporting the workpiece outside of a range in which at least part of the tool or the workpiece supported by the tool overlaps with the imaging object in a field of view of the imaging apparatus.

A control method of a robot system including

• an end effector including an imaging apparatus configure to perform imaging and an irradiation unit configured to irradiate light in an optical axis direction,
• a robot to which the end effector is attached, the robot being configured to move a position and posture of the end effector, and
• a control unit configured to control the robot and the end effector, the method comprising:
• an irradiating step in which the control unit irradiates an imaging object, that includes a flat surface portion formed in a planar shape and an inclined portion inclined with respect to the flat surface portion, by the irradiation unit such that an optical axis of reflected light reflected at the flat surface portion is directed toward the imaging apparatus and an optical axis of reflected light reflected at the inclined portion is directed toward a direction away from the imaging apparatus;
• an imaging step in which the control unit captures the image of the imaging object, that is irradiated with the light at the irradiating step, by the imaging apparatus;
• and
• a calculating step in which the control unit calculates a positional relationship between the end effector and the imaging object from the image captured by the imaging apparatus.