| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system reproducing a situation at the occurrence of a problem. SOLUTION: Workpieces placed in bulk in a basket-like container are gripped and taken out by a hand at the tip of a robot arm. The workpiece is detected by a visual sensor, and a robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference occurs, information related to the problem is stored in a robot control unit or a visual sensor control unit. The information related to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of the occurrence of the problem, a position which the robot has reached, target position data, the contents of a process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the occurrence of the problem by using a simulation unit. The situation at the occurrence of the problem can also be reproduced by using the actual robot without using the simulation unit. COPYRIGHT: (C)2005,JPO&NCIPI
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