| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system which can be inexpensively manufactured and can accurately determine an abnormal condition of work fixed by a work fixing device in a production machine, and a method of determining an abnormal condition.SOLUTION: A robot system 20 has a disturbance torque monitoring portion 11 which monitors the disturbance torque of a servo motor that rotation-drives a shaft of a robot 4 according to an operation command of a robot operation control portion 9. When work W gripped by a hand 3 is fixed by a work fixing device 1, an abnormal condition determining portion 13 compares the disturbance torque with a predetermined first threshold value, and when the disturbance torque exceeds the first threshold value, determines that an abnormal condition is generated in a position of the work fixed by the work fixing device 1.SELECTED DRAWING: Figure 4 |
