| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system capable of properly executing a prescribed machining process such as deburring or polishing even when there is an individual differences in positioning error, the shape of a workpiece or dimension.SOLUTION: A robot system 10 includes: a robot 2 which is operated to move a machining tool 6 to a workpiece 7; an actuator 5 for changing the position of the machining tool 6; and a control device 3 for controlling the robot 2. The control device 3 includes: a robot control section 31 for operating the robot 2 in accordance with a prescribed motion trajectory; a force detection section 32 for detecting force acting between the machining tool 6 and the workpiece 7; a position detection section 34 for detecting a present position of the machining tool 6; a force control section 33 for determining a target position of the machining tool 6 so that the detection value of the force detection section 32 comes close to a prescribed value; and a position correction section 35 for calculating position correction amount of the motion trajectory of the robot 2 and position correction amount of the actuator 5 according to the target position of the machining tool 6.SELECTED DRAWING: Figure 4 |
