TROUBLE DIAGNOSTIC METHOD FOR ROBOT SYSTEM WITH VISUAL SENSOR

PROBLEM TO BE SOLVED: To provide a robot system equipped with a visual sensor of such a structure that the visual sensor is attached to a robot hand to transfer each work, which can diagnose an indication of system deterioration etc. and judge at an early stage and give an appropriate alarm to the operator(s). SOLUTION: When a work grasped by a robot hand 2h is checked by a visual sensor 4 and accommodated at a pin of a work holding jig, the robot hand 2h is moved to the first reference position and second reference position of a measuring part S for each operating cycle, and the positional accuracy of the hand 2h is measured by a laser sensor 6 while the positional accuracy of the image of a measuring reference tool 7 is measured by the visual sensor 4, and judgement is made whether the cause of trouble lies on the robot side or the visual sensor side.