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 determinator determines whether the force from a structure disposed at a position on a work stand satisfies a condition. An operation state acquisitor acquires the operation states when the force satisfies the condition. A coordinate calculator calculates a position coordinate of the probe based on the operation states. A position correction amount calculator calculates a correction amount of a position of the work stand relative to the robot based on the position coordinate.

主权项

1. A robot system comprising:
a robot comprising:
an arm comprising a plurality of joints;a plurality of actuators configured to drive the plurality of joints;a plurality of sensors configured to detect operation states of the plurality of actuators;a probe mounted on the arm; anda force sensor configured to detect force received by the probe; and a controller configured to control the robot, the controller comprising:
a determinator configured to determine whether the force received by the probe from a structure disposed at a predetermined position on a work stand satisfies a predetermined condition;an operation state acquisitor configured to acquire the operation states of the plurality of actuators when the force received by the probe satisfies the predetermined condition;a coordinate calculator configured to calculate a position coordinate of the probe based on the operation states of the plurality of actuators; anda position correction amount calculator configured to calculate a correction amount of a position of the work stand relative to the robot based on the position coordinate of the probe.