| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system and a robot control device, which enable calibration to be performed simply and accurately.SOLUTION: A robot control part of the robot system: causes a robot to perform a touch sensing operation for causing a fingertip tool to contact with a target point set on a workpiece surface along a touch sensing locus generated on the same virtual space as a working locus; calculates a correction amount of a reference coordinate system on the basis of a first position and posture data respectively representing the position and posture of a tool center point of the fingertip tool at a contact point at which the fingertip tool contacts with the workpiece at the target point, the position and posture being detected at the touch sensing operation, and on the basis of a second position and posture respectively representing the position and posture of the tool center point at each target point assumed when moving the fingertip tool along the touch sensing locus; corrects the reference coordinate system on the basis of the calculated correction amount; and, when the workpiece is worked, controls the robot so as to move the fingertip tool along the working locus with the corrected reference coordinate system as reference. |
