ROBOT SYSTEM AND CONTROL METHOD OF THE SAME

To provide a robot system which can properly correct a position and an orientation of a hand in a horizontal direction to place an object to be transported (a transported object) in a delivery part after a position and an orientation of the transported object placed in a receiving part is properly corrected in the horizontal direction even if large warpage occurs in the transported object.SOLUTION: In a robot system 1, a robot 3 conducts a first operation that is an action performed when an arm 9 is contracted so that a hand 7, receiving an object to be transported (a transported object) 2 in a receiving part 4, moves close to a body part 11. A control unit of the robot 3 acquires data of an anteroposterior position of the hand 7 recorded when one through-beam type detection mechanism 27 detects the transported object 2 and data of an anteroposterior position of the hand 7 recorded when the other through-beam type detection mechanism 27 detects the transported object 2 during the first operation being conducted by the robot 3 and further acquires data of a lateral position of the transport object 2 detected by a through-beam detection mechanism 26 in a state that the robot 3 has completed the first operation.SELECTED DRAWING: Figure 1 【課題】搬送対象物に大きな反りが生じていても、受取り部に置かれている搬送対象物の水平方向の位置および向きを適切に補正してから引渡し部に搬送対象物を置くために、ハンドの水平方向の位置および向きを適切に補正することが可能なロボットシステムを提供する。【解決手段】ロボットシステム１では、ロボット３は、受取り部４で搬送対象物２を受け取ったハンド７が本体部１１に近づくようにアーム９が縮むときの動作である第１動作を行う。ロボット３の制御部は、ロボット３が第１動作を行う際に、一方の透過型の検知機構２７が搬送対象物２を検知したときのハンド７の前後方向の位置データと、他方の透過型の検知機構２７が搬送対象物２を検知したときのハンド７の前後方向の位置データとを取得し、かつ、ロボット３が第１動作を完了した状態で、透過型の検知機構２６によって検知される搬送対象物２の左右方向の位置データを取得している。【選択図】図１