ROBOT SYSTEM AND METHOD FOR MANUFACTURING COMPONENT

摘要

After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

主权项

1. A robot system comprising:
a robot having a robot arm mounted with a grasping portion grasping a workpiece; and a control portion transmitting an operation command to the robot, the control portion having: a fitting operation control portion controlling the grasping portion of the robot arm to grasp the workpiece and performing a fitting operation while changing a control point set for the robot arm such that the workpiece follows a shape of a workpiece fitted member into which the workpiece is fitted; and a control point setting portion changing the control point of the robot in a direction opposite to a fitting direction according to an amount of movement of the workpiece in the fitting direction when the fitting operation control portion performs an operation.