Robot system, robot control apparatus, method for controlling robot

摘要

A robot system includes a robot and a controller. An arm includes joints. Actuators drive the joints. Sensors detect operation states of the actuators. The probe is mounted on the arm. A force sensor detects force received by the probe. The controller controls the robot. A determination section determines whether the force from a structure disposed at a position on a work stand satisfies a condition. An operation state acquisition section acquires the operation states when the force satisfies the condition. A coordinate calculation section calculates a position coordinate of the probe based on the operation states. A position correction amount calculation section calculates a correction amount of a position of the work stand relative to the robot based on the position coordinate.