To provide a robot system capable of working along a desired working track even if a large-sized workpiece is supported by a plurality of robots.
The robot system comprises a plurality of robots having a working device for working a workpiece by a tool, a machining controller and a workpiece holding hand, and a robot controller for controlling the machining controller and the plurality of robots for working the workpiece along a target machining line while moving the workpiece by the plurality of robots. A moving track of a reference point corresponding to the target machining line on a tool coordinate system having a hand tip as the origin is calculated per calculation cycle. A hand tip position of a first robot is calculated, and the hand tip position of the first robot is moved to the position. Thus, the workpiece is moved with respect to the tool so that the track of the tool coincides with the target machining line while a hand tip position of a second robot keeps relative positional relation with the hand tip position of the first robot.
MORITA RYUICHI
NISHIKAWA SEIGO
NOMA NAOMUNE
OYAMA KAZUYOSHI
SAITO TOMOYA
TECH KK F
| JPH0385608A | 1991-04-10 | |||
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Hironori Honda
Toshimitsu Ichikawa