| 摘要 |
PROBLEM TO BE SOLVED: To obtain an accurate robot position at the moment when imaging a workpiece without temporarily stopping operation.SOLUTION: A robot system (10) includes: a processing section (32) that calculates the positional information of a workpiece with respect to a visual sensor (13); a clock (35) to which a robot controlling section (31) and the processing section refer to check a present time; a first storing section (33) that sequentially stores first times at a predetermined cycle in combination with positional information items of an arm tip at the first times, respectively; a second storing section (34) that stores a second time when the visual sensor measures the workpiece; an arm tip position calculating section (41) that calculates the positional information of the arm tip when the visual sensor measures the workpiece based on at least two of the first times before and after the second time among the first times and the positional information items of the arm tip corresponding to the respective first times; and a workpiece position calculating section (42) that calculates the positional information of the grasped workpiece with respect to the arm tip based on the positional information of the arm tip and the workpiece. |
