ROBOT SYSTEM AND END-EFFECTOR DEFORMATION DETECTION METHOD

摘要

Provided is a robot system comprising: a robot arm having at the end thereof a wrist which extends in a prescribed direction and which rotates freely about a rotation axis; an end-effector that is attached to the wrist; and a deformation detection device that detects deformation of the end-effector using a target pin which has a target site to which a prescribed detection site of the end-effector reaches. The target site has an indication function for indicating that the detection site has reached the target site. The deformation detection device comprises: a search unit which searches for the target site by controlling the robot arm so that the detection site touches the target pin, and which, on the basis of the indication function of the target site, detects that the detection site has reached the target site; and a deformation detection unit that detects the deformation of the end-effector by comparing the estimated position of the detection site when the detection site has reached the target site and a prescribed reference position.