ROBOT SYSTEM, ROBOT CONTROL METHOD AND ROBOT CONTROLLER

PROBLEM TO BE SOLVED: To improve accuracy of operation by a robot.SOLUTION: A robot system 1 comprises: first and second sealing robots SR1 and SR2 which perform application of a sealing agent to a body 10; a three-dimensional sensor 2 which detects a three-dimensional shape of a bottom part 11 involved in operation of sealing the body 10; a camera 3 which detects a three-dimensional position of the body 10 when the sealing robots SR1 and SR2 perform sealing operation; first correcting portions 33 and 43 which correct teaching data which regulate motion of the sealing robots SR1 and SR2, on the basis of detected results by the three-dimensional sensor 2; second correcting portions 34 and 44 which correct the teaching data on the basis of detected results by the camera 3; and control portions 35 and 45 which control the sealing robots SR1 and SR2 on the basis of the teaching data corrected by the first correcting portions 33 and 43 and the second correcting portions 34 and 44.SELECTED DRAWING: Figure 4 【課題】ロボットの作業精度を向上する。【解決手段】ロボットシステム１は、ボディ１０に対しシーリング剤の塗布を行う第１及び第２シーリングロボットＳＲ１，ＳＲ２と、ボディ１０のシーリング作業に関わる底部１１の３次元形状を検出する３次元センサ２と、シーリングロボットＳＲ１，ＳＲ２がシーリング作業を行う際のボディ１０の３次元位置を検出するカメラ３と、シーリングロボットＳＲ１，ＳＲ２の動作を規定する教示データを３次元センサ２の検出結果に基づいて補正する第１補正部３３，４３と、教示データをカメラ３の検出結果に基づいて補正する第２補正部３４，４４と、第１補正部３３，４３及び第２補正部３４，４４により補正された教示データに基づいてシーリングロボットＳＲ１，ＳＲ２を制御する制御部３５，４５とを有する。【選択図】図４