| 摘要 |
PROBLEM TO BE SOLVED: To carry out an agitation operation of workpieces without causing an excessive load on an end effector etc. or damage to the end effector.SOLUTION: A robot system includes: a robot; a storage unit; a determination unit; an operation control unit; a torque limitation unit; and an agitation operation control unit. The robot has a driving source for driving a joint part and is equipped with an end effector. The storage unit accommodates workpieces. The determination unit determines whether or not there is a workpiece that can be held by the end effector among the workpieces in the storage unit. The operation control unit controls operation of the driving source. The torque limitation unit, when determined that a workpiece does not exist that can be held by the end effector, limits operation torque commanded for the driving source by the operation control unit. The agitation operation control unit, in a state that the operation torque is limited by the torque limitation unit, executes an agitation operation for agitating the workpieces in the storage unit by the end effector according to the operation control unit. |
