Patent ID: 9604360
Date: 2017-03-28
CPC Classifications: B25J,G05B,Y10S

Claim:
1. A robot system comprising a robot which is provided with a robot arm having a wrist part and with a robot hand attached to said wrist part, and a control device which controls the motion of said robot, wherein a permitted area where a teaching operation for said robot hand should be permitted is preset above a table that is within a maximum area which said robot hand can reach, and that an object to be conveyed by said robot hand can be placed on, wherein the permitted area has a shape covering less than all of the robot arm, and said control device comprises a judging part which judges if said robot hand as a whole is present in said permitted area, based on robot hand position information which expresses a position and posture of said robot hand and a teaching operation restricting part which permits a teaching operation for said robot hand when it is judged that said robot hand as a whole is present in said permitted area, and prohibits a teaching operation for said robot hand when it is judged that said robot hand as a whole is not present in said permitted area.