ROBOT SYSTEM AND PRODUCT MANUFACTURING METHOD

摘要

A robot system includes a robot, a container, a determinator, a motion controller, a torque limitter, and a stirring operation controller. The robot includes a drive source for driving a joint part and an end effector. The determinator determines whether a workpiece capable of being held by the end effector exists among workpieces accommodated within the container. The motion controller controls a motion of the drive source. When the determinator determines that there is no workpiece capable of being held by the end effector, the torque limitter limits a motion torque of the drive source. The stirring operation controller allows the motion controller to perform a stirring operation, by which the workpieces accommodated within the container are stirred by the end effector, in a state where the motion torque is limited by the torque limitter.

主权项

1. A robot system comprising:
a robot including at least one joint part, at least one drive source for driving the at least one joint part and an end effector; a container configured to accommodate workpieces; a determinator configured to determine whether a workpiece capable of being held by the end effector exists among the workpieces accommodated within the container; a motion controller configured to control a motion of each drive source of the robot; a torque limitter configured to, when the determinator determines that there is no workpiece capable of being held by the end effector, limit a motion torque of at least one of the each drive source to be commanded from the motion controller to the each drive source; and a stirring operation controller configured to, when the determinator determines that there is no workpiece capable of being held by the end effector, allow the motion controller to perform a stirring operation, by which the workpieces accommodated within the container are stirred by the end effector, in a state where the motion torque is limited by the torque limitter.