To prevent gripping failure due to slipping and rotation of a component and prevent damage of a gripping means and a component in a robot system by detecting slipping and rotation of a component occurring during transfer and determining the component to be the gripping object.
The robot system 1 is equipped with a conveyance means 11 for conveying a component from one processing step to the next processing step, a position measuring means 13 for measuring the position of the component by imaging the component being conveyed by the conveyance means 11, and a gripping means 17 for gripping the component based on the component position. Further, the robot system 1 includes a component speed calculating part 14 for calculating the moving speed of the component, a component state detecting part 15 for detecting the moving state of the component from the moving speed, and a gripping component determining part 16 for determining the component to be the gripping object based on the moving state of the component. Consequently, gripping failure caused by the moving state of the component such as slipping and rotation of the component can be prevented.
ARAKI HIDEKAZU
Katsumi Taguchi
Shinichi Mizuta