| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot device capable of reducing tact time without increase in cost even while coping with errors in positions and posture which may occur during actual operation.SOLUTION: The robot device includes a robot boy, a sensor, and a control unit. When a workpiece is supplied, for one part of multiple work sites, the control unit positions an end effector at the one part of work sites by moving the end effector on the basis of a measured value obtained by the sensor, makes the end effector work, and sets a position and posture of the positioned end effector as a reference position and posture (a first positioning step), and for the rest of the multiple work sites except the one part, calculates the amount of off-set from the reference position and posture to the next work site, positions the end effector at the rest of the work sites by moving the end effector to a position and posture shifted from the reference position and posture by the amount of off-set, and makes the end effector work (a second positioning step).</p> |
