| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method of a robot system capable of highly accurately determining whether or not there is an original point deviation of individual joints with regard to a plurality of joints even with a small number of cameras.SOLUTION: A control part 08 controls a robot 01 and a camera 04, and after performing a photographing process for rotatable joints 021, 031, and 051, and acquiring photographing data, performs arithmetic control. In the photographing process, a mark 03 is photographed with the camera 04 in a step to rotate and operate the robot 01 with one joint of a plurality of joints from a predetermined posture. In the arithmetic control, based on the photographing data acquired by trajectory acquisition control, a joint in which a rotation position deviation or a rotation axis deviation is caused of the plurality of joints of the robot 01 is identified. |
