| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system in which, when position posture of a workpiece is corrected using a result of measurement performed by a sensor, the position posture of the workpiece can be highly accurately corrected even when a robot operates nonlinearly.SOLUTION: The robot system includes: an arm 20; a hand 21 having a holding part 22 capable of holding the workpiece; a camera 7, a holding part adjustment mechanism 23 capable of adjusting at least one flexibility of a position and a posture of the holding part 22 with respect to the arm 20; and a control device 3. The control device 3 calculates a coordinate transformation expression to an operation coordinate system from a measurement coordinate system by correcting the measurement coordinate system of the camera 7 and the operation coordinate system of the holding part adjustment mechanism 23, and executes correction work for operating the holding part adjustment mechanism 23 based on a correction amount calculated by using the coordinate transformation expression so as to correct a position posture error of the workpiece being an object. |
