Robot system for controlling the movements of a robot utilizing a visual sensor

摘要

A robot system for efficiently performing an operation of moving a robot close to and/or separate from a target point, such as teaching operation. A camera of a visual sensor is mounted to the robot such that a distal end (6) of an end effector (2) manipulated by the robot is seen within the field of view of the camera, and the end effector's distal end (6) and a target position (7) on an object are specified on a monitor screen (21). When an approach key is depressed, a target position (7) is detected on an image, and a difference from a position of the end effector's distal end (6) is calculated. Whether the difference is within an allowable range is checked. Depending on the result, an amount of robot motion is calculated, and the robot is operated. The processing is repeated until the depressed approach key is released. When a retreat key is depressed, the robot moves away from the object. The robot may be caused to stop using a distance sensor.