CONTROL DEVICE, ROBOT SYSTEM, AND CONTROL METHOD FOR CAUSING ROBOT TO EXECUTE WORK ON WORKPIECE

摘要

When it is desired to execute work on a workpiece using a tool of a robot while causing the robot and the workpiece to be moved relative to each other by an additional axis mechanism, it is necessary to press the tool against the workpiece from an appropriate direction.　This control device comprises: an additional axis movement amount acquisition unit 60 for acquiring an additional axis movement amount; a command generation unit 62 for generating a movement command for a robot 12 on the basis of operation plan data for the robot 12 and the additional axis movement amount; a vector acquisition unit 64 for acquiring a vector of a direction along a work target portion of a workpiece, on the basis of the operation plan data or the additional axis movement amount; and a pressing direction determination unit 66 for determining, using the vector acquired by the vector acquisition unit 64, a pressing direction in which the robot 12 presses a tool against the workpiece during the work.