ROBOT ARM SYSTEM AND METHOD OF TEACHING ROBOT ARM

摘要

PROBLEM TO BE SOLVED: To suppress the deterioration of work efficiency when teaching work is performed on a plurality of robot arms.SOLUTION: A robot arm system includes: a first robot arm 10 and a second robot arm 20 which can grip a workpiece 50; and a first control device 30 and a second control device 40 which set the first robot arm 10 in a master state, set the second robot arm 20 in a slave state, calculate a first orbit on which the first robot arm 10 moves due to external force, calculate a second orbit of the second robot arm 20 based on the first orbit, move the first robot arm 10 based on the first orbit, and move the second robot arm 20 based on the second orbit, when the external force is applied on the first robot arm 10 by direct teaching, while the first robot arm 10 and the second robot arm 20 grip the workpiece 50.SELECTED DRAWING: Figure 1