Patent ID: 9043023
Filing Date: 2015-05-26
Classification: B25J,G05B

Abstract:
1. A robot system comprising: at least one processor communicatively-coupled to a memory; an arm capable of controlling a position and orientation of an arm tip portion; a holding unit, which is attached to the arm tip portion and which comprises a holding mechanism configured to hold a target object, capable of controlling a relative position and orientation of a first target object held by the holding mechanism to the arm tip portion; a first position and orientation measurement unit configured to measure the relative position and orientation of the first target object held by the holding unit to the arm tip portion; a second position and orientation measurement unit configured to measure a second position and orientation of a second target object to be fitted or assembled with the first target object; and a correction unit configured to correct a position and orientation of the holding unit by controlling the holding unit, without changing controlling amount of the arm based on a result of both the first position and orientation measurement unit and the second position and orientation measurement unit while the arm is still moving after the holding unit holds the first target object.