JP7446925B2 - robot system - Google Patents

Description

Embodiments according to the invention relate to robotic systems.

A robot with multiple arms may operate each arm simultaneously. For example, a control method is known in which the timing of the start and end of the motion of one arm is aligned with the start and end timing of another arm.

However, with the above control method, in order to synchronize the start and end timing with other arms, there is waste in the operation of a certain arm, which reduces efficiency and increases the operation time (time required for work). There was a possibility.

Japanese Patent Application Publication No. 7-20915

The purpose is to provide a robot system that can control multiple arms more efficiently.

The robot system according to the present embodiment includes a robot having a plurality of arms, a support section including a shaft that supports an arm connection section provided to connect to the plurality of arms and makes the arm connection section movable; The first angle, which is the angle of the axis in the movement of the first arm, included in the program that controls the movement of the second arm, and the second angle, which is the angle of the axis in the movement of the second arm, included in the program substantially match. The control unit includes a control unit that operates the first arm and the second arm independently of each other based on whether or not to perform the operation.

FIG. 1 is a diagram showing the configuration of a robot system according to a first embodiment. FIG. 1 is a schematic diagram showing the entire axis configuration of the robot according to the first embodiment. The figure which shows an example of the teaching point and movement trajectory of a right arm and a left arm. The figure which shows an example of a program. 5 is a graph showing an example of the relationship between the speed and time of the motion trajectory generated by the program of FIG. 4. FIG. FIG. 3 is a flow diagram showing an example of parallel operation of the right arm and the left arm. The graph which shows an example of the relationship between the speed of the motion trajectory generated by the program of sequential execution, and time. FIG. 7 is a flow diagram showing an example of sequential execution of the right arm and the left arm.

Embodiments of the present invention will be described below with reference to the drawings. This embodiment does not limit the present invention. The drawings are schematic or conceptual, and the proportions of each part are not necessarily the same as in reality. In the specification and drawings, the same elements as those described above with respect to the existing drawings are denoted by the same reference numerals, and detailed description thereof will be omitted as appropriate.

(First embodiment)
FIG. 1 is a diagram showing the configuration of a robot system 1 according to the first embodiment. The robot system 1 includes a robot 10 and a control device 70.

FIG. 2 is a schematic diagram showing the entire axis configuration of the robot 10 according to the first embodiment. FIG. 2 shows an overall overview of the axis configuration of the robot 10. Note that FIG. 2 also shows axes that are not shown in FIG. 1 (JR4 axis, JR5 axis, JL3 axis, and JL4 axis).

The robot 10 has a waist 12, a torso 14, a right arm 16R, and a left arm 16L. In the example shown in FIGS. 1 and 2, the robot 10 is a dual-arm humanoid robot with a structure similar to a human body.

The body 14 as an arm connection portion is provided so as to be connected to a right arm 16R and a left arm 16L as a plurality of arms.

The waist part 12 as a support part supports the body 14 and includes an axis (waist axis) that allows the body 14 to move. The hip axis allows the torso 14 to pivot and/or tilt. Therefore, the waist portion 12 includes at least one of a pivot axis for rotating the body 14 around an axis passing through the center of the body 14 and a tilting axis for tilting the body 14 in the front-rear direction.

Next, each configuration of the robot 10 will be explained in detail.

The waist part 12 is placed on a stand (not shown) or the like, and the waist part 12 itself does not move.

Here, the directions in the following description are as follows. In FIG. 1, the vertical direction refers to the vertical direction when the waist portion 12 is installed on a horizontal plane, and the longitudinal direction refers to the front side of the torso 14 as a reference, and the rear side to the back side. shall be based on.

The body 14 is rotatable around a vertical central axis passing through its center, and this axis is designated as JB1. Furthermore, the body 14 is tiltable around a horizontal axis JB2 extending left and right. In this embodiment, the fuselage 14 has two degrees of freedom consisting of the JB1 axis and the JB2 axis.

Next, the right arm 16R and left arm 16L will be explained.

The right arm 16R includes a shoulder portion 18R, an upper arm portion 19R, an elbow joint portion 20R, a forearm portion 21R, and a wrist portion 22R. Similarly, the left arm 16L includes a shoulder portion 18L, an upper arm portion 19L, an elbow joint portion 20L, a forearm portion 21L, and a wrist portion 22L.

In FIGS. 1 and 2, the shoulder portion 18R of the right arm 16R has two degrees of freedom, having JR1 axis and JR2 axis around which the upper arm portion 19R rotates. The elbow joint 20R of the right arm 16R is a joint with three degrees of freedom: JR3 axis, JR4 axis, and JR5 axis. The wrist portion 22R of the right arm 16R has two degrees of freedom: the JR6 axis and the JR7 axis. Therefore, the right arm 16R has a total of 7 degrees of freedom.

Similarly, the shoulder portion 18L of the left arm 16L has two degrees of freedom, having JL1 axis and JL2 axis around which the upper arm portion 19L rotates. The elbow joint 20L of the left arm 16L is a joint with three degrees of freedom: the JL3 axis, the JL4 axis, and the JL5 axis. The wrist portion 22L of the left arm 16L has two degrees of freedom: the JL6 axis and the JL7 axis. Therefore, the left arm 16L also has seven degrees of freedom in total.

The JR1 axis and the JL1 axis are axes for rotating the upper arm parts 19R and 19L about the longitudinal center lines of the upper arm parts 19R and 19L, respectively. The JR2 axis and the JL2 axis are axes for rotating the upper arm portions 19R and 19L, respectively, in a plane perpendicular to the body 14. If the body 14 is upright, the upper arms 19R and 19L will rotate on a horizontal plane.

The JR3 axis and the JL3 axis are axes around which the entire elbow joints 20R and 20L pivot, respectively, around axes that are coaxial with the JR1 axis and the JL1 axis. The JR4 axis and the JL4 axis are axes that rotate the lower halves of the elbow joints 20R and 20L around axes perpendicular to the JR3 axis and the JL3 axis. The JR5 axis and the JL5 axis are axes for rotating the forearm portions 21R and 21L around axes perpendicular to the JR4 axis and the JL4 axis.

The JR6 axis and JL6 axis of the wrist portions 22R and 22L are axes for rotating the wrist portions 22R and 22L, respectively, within a plane parallel to the longitudinal direction of the forearm portions 21R and 21L. The JR7 axis and the JL7 axis are orthogonal to the JR6 axis and the JL6 axis, and are axes for rotating the end effectors attached to the wrist parts 22R and 22L.

Moreover, the robot 10 further includes an angle sensor (not shown). Each rotating shaft JB1, JB2, JL1 to JL7, and JR1 to JR7 is provided with a motor, respectively. The motor is used to drive the rotating shaft. Each motor has an angle sensor that detects its respective rotational position. The angle sensor is, for example, an encoder. Further, more specifically, the angle sensor detects the angle of the waist axis. The "waist axis" is at least one of the JB1 axis, which is a turning axis, and the JB2 axis, which is a tilting axis.

Note that, hereinafter, the "right arm 16R" may be referred to as the "right arm 16R" or "ARM1". The "left arm 16L" may be referred to as the "left arm 16L" or "ARM2."

As shown in FIG. 1, the control device 70 includes a storage section 71 and a control section 72.

The storage unit 71 may include, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory) that functions as a main memory, and an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that functions as a storage. . The storage unit 71 stores, for example, various programs and data for operating the robot 10. Furthermore, the storage unit 71 stores a program created by the teaching. Teaching is performed by, for example, storing the XYZ coordinates of the tip position of the arm in the storage unit 71. Note that the storage unit 71 may be provided outside the robot system 1.

The control unit 72 is connected to the robot 10 and controls the robot 10. The control unit 72 controls each motor by, for example, executing a program that controls the operation of the robot 10. Thereby, each rotational axis (joint) is controlled to a desired angle, and for example, the end effectors (the tips of the right arm 16R and left arm 16L) can be moved to a desired position and a desired angle. In this way, the program is used to actually operate the robot 10.

The program includes, for example, the position of the tip of the arm. The control unit 72 generates the motion trajectory of the arm based on the program. Note that the control unit 72 may acquire arm posture information from the program and use it to generate the motion trajectory. In this case, the control unit 72 may include arm posture information in addition to the arm tip position in the program during teaching. Thereby, the shape of the arm at the target tip position (for example, the degree of bending of the joints of the arm, etc.) can be made almost the same regardless of the intermediate route. However, the present invention is not limited to this, and the arm posture information may not be taught and the arm posture information may not be used to generate the motion trajectory.

Further, the control unit 72 sets the detection result of the angle sensor as the first angle included in the program for each teaching point of the first arm. Further, the control unit 72 sets the detection result of the angle sensor as the second angle included in the program for each teaching point of the second arm. That is, when teaching the arm, the control section 72 takes in the current angle of the hip axis and the position of the tip of the arm into the program in the storage section 71. The "first arm" and the "second arm" are arbitrary arms among the plurality of arms. For example, the first arm may be the right arm 16R, and the second arm may be the left arm 16L. On the other hand, the first arm may be the left arm 16L, and the second arm may be the right arm 16R. This correspondence relationship may change over time, for example, as will be explained later with reference to FIGS. 5(A) and 5(B).

The control unit 72 also controls a first angle, which is the angle of the hip axis in the movement of the first arm, which is included in the program for controlling the movement of the robot 10, and a first angle, which is the angle of the hip axis in the movement of the second arm, which is included in the program. The first arm and the second arm are operated independently of each other based on whether or not the second angle substantially coincides with each other. "Operating the first arm and the second arm independently of each other" means that the first arm operates without being influenced by the operation of the second arm, and the second arm operates without being influenced by the operation of the first arm. Indicates that it operates without being affected. Therefore, the first arm and the second arm operate, for example, without synchronizing the timing of starting or ending the operation at the teaching point.

In the robot 10 having a waist axis, the angle of the waist axis may affect the position and operation of the tip of the arm. If the arm does not move and the angle of the hip axis changes, the position of the tip of the arm will shift. Furthermore, even if arm posture information is included in the program during teaching, if there is a difference in the angle of the hip axis between the teaching and program execution, the The shape of the arm may be different. This is because the XYZ coordinates of the tip position of the arm are set during teaching. Further, in the robot 10 having a plurality of arms, teaching may be performed for each arm in order to have each arm perform a different operation (work). Also, such individually taught arms may operate simultaneously for efficiency.

Here, the waist axis allows the body 14 to which a plurality of arms are commonly connected to be movable. Therefore, the angle of the hip axis affects the position and movement of the tip of each arm. Therefore, depending on the operation content of each arm, it may be difficult for each arm to operate appropriately, and the operation of each arm may be restricted. Therefore, the control unit 72 determines whether each arm can perform a different task by comparing the angles of the waist axes in the program, and controls the arms independently. Thereby, in the robot 10 having a waist axis, it is possible to more efficiently control a plurality of arms that perform different tasks.

Further, the control unit 72 acquires the first angle and the tip position of the first arm for each teaching point of the first arm. The control unit 72 generates a motion trajectory of the first arm based on the first angle and the position of the tip of the first arm. Similarly, the control unit 72 acquires the second angle and the tip position of the second arm for each teaching point of the second arm. The control unit 72 generates a motion trajectory of the second arm based on the second angle and the position of the tip of the second arm.

FIG. 3 is a diagram showing an example of teaching points and motion trajectories of the right arm 16R and left arm 16L. FIG. 3(A) shows an example of the teaching point and motion trajectory of the right arm 16R. FIG. 3(B) shows an example of the teaching point and motion trajectory of the left arm 16L.

RP0 to RP3 indicate teaching points of the right arm 16R. LP0 to LP4 indicate teaching points of the left arm 16L. The teaching points RP0 and LP0 are the starting teaching points of a series of trajectories. The trajectory from teaching point RP0 to teaching point RP3 is a right arm trajectory including a plurality of consecutive teaching points of right arm 16R. The right arm 16R moves along the right arm trajectory. The trajectory from teaching point LP0 to teaching point LP4 is a left arm trajectory including a plurality of consecutive teaching points of left arm 16L. The left arm 16L moves along the left arm trajectory.

Arrows indicate trajectories between teaching points. The distance of the arrow indicates the distance of the trajectory. In the examples shown in FIGS. 3(A) and 3(B), the distance between teaching point LP1 and teaching point LP2 and the distance between teaching point LP2 and teaching point LP3 are the same as those between other teaching points. is shorter than the distance of

FIG. 4 is a diagram showing an example of a program.

"PARALLEL ARM1" indicates that the right arm 16R is caused to execute the operations up to "PARALLEL END" as parallel operations. "PARALLEL ARM2" indicates that the left arm 16L is caused to execute the operations up to "PARALLEL END" as parallel operations. "PARALLEL END" indicates the end of parallel operation. In the example shown in FIG. 4, "MOVE ARM1 RPn (n=1, 2, 3)" regarding ARM1, which is the right arm 16R, and "MOVE ARM2 LPm (m=1, 2, 3, 4)'' are executed in parallel.

“MOVE ARM1 RPn (n=1, 2, 3)” indicates moving the right arm 16R to the teaching point RPn (n=1, 2, 3). Therefore, "MOVE ARM1 RPn (n=1, 2, 3)" is the program line for the right arm trajectory shown in FIG. 3(A). “MOVE ARM2 LPm (m=1, 2, 3, 4)” indicates moving the left arm 16L to the teaching point LPm (m=1, 2, 3, 4). Therefore, "MOVE ARM2 LPm (m=1, 2, 3, 4)" is the program line for the left arm trajectory shown in FIG. 3(B).

The control unit 72 operates the first arm and the second arm independently of each other when the first angle and the second angle substantially match. Further, if the first angle and the second angle do not match, the control unit 72 stops the operations of the first arm and the second arm. When the first angle and the second angle substantially match, the first arm and the second arm can be appropriately operated without synchronizing the timing of the teaching points. This is because the angles of the hip axes are approximately the same when each arm is taught. On the other hand, when the first angle and the second angle do not match, if the first arm and the second arm are operated at the same time, for example, there is a possibility that the first arm and the second arm may unexpectedly make dangerous movements. be. Therefore, if the angles of the waist axes do not match, it is necessary to prevent the first arm and the second arm from operating, for example, as a program error. For example, the control unit 72 may display an error on a display unit (not shown).

Further, if the difference between the plurality of angles of the waist axis is less than or equal to a predetermined value, the control unit 72 determines that the plurality of angles of the waist axis substantially match. Depending on the accuracy of the encoder, which is an angle sensor, the angles of the waist axes may not necessarily match. Therefore, the control unit 72 determines that the angles of the hip axes substantially match when the difference in angle is small. The predetermined value is set in advance by the user, for example. The predetermined value may be changed depending on the work content, for example. For example, when an operation requiring fine positional accuracy is performed, the predetermined value needs to be a small value. On the other hand, when work is performed that requires poor positional accuracy, the predetermined value may be a large value.

The control unit 72 also controls the control unit 72 to adjust the first angle in the first path including the plurality of consecutive teaching points of the first arm and the second angle in the second path including the plurality of consecutive teaching points of the second arm. The first arm and the second arm are operated independently of each other based on whether or not they substantially match. The "first route" and the "second route" are, for example, a right arm trajectory and a left arm trajectory. That is, the control unit 72 compares the angle of the waist axis in the right arm trajectory with the angle of the waist axis in the left arm trajectory. This allows the plurality of arms to perform a series of operations independently of each other.

In "PARALLEL" shown in FIG. 4, the control unit 72 compares and determines whether the angles of the hip axes substantially match. If the angles of the hip axes substantially match, the control unit 72 executes the "MOVE" program line to cause the right arm 16R and left arm 16L to perform parallel movements.

In "MOVE", the control unit 72 performs trajectory generation calculations for each teaching point based on the angle of the hip axis and the position of the tip of the arm. The control unit 72 performs trajectory generation calculations using the angle values of the waist axes that are approximately the same between the right arm 16R and the left arm 16L based on the above determination. The control unit 72 causes the arm to execute the generated motion trajectory.

In addition, in more detail, the control unit 72 controls the first arm and the second arm based on whether all the angles of the hip axes for each teaching point included in the first route and the second route substantially match. and operate independently of each other. That is, the control unit 72 determines whether all the first angles for each teaching point included in the first path substantially match, and whether all the second angles for each teaching point included in the second path substantially match. It is further determined whether or not. In the example shown in FIG. 4, the control unit 72 determines whether the angles of the hip axes at the teaching points RP0 to RP3 and LP0 to LP4 all substantially match. Therefore, the control unit 72 operates the first arm and the second arm independently of each other while keeping the waist axis substantially fixed.

Note that the user, for example, confirms the individually taught movements of the first arm and the second arm, and simultaneously selects (designates) a section to be independently controlled. Further, the user selects, for example, a right arm trajectory and a left arm trajectory in which parallel motions are performed as sections in which the angle of the hip axis does not substantially change. The user may create a program using "PARALLEL" for the selected trajectory.

In the following, a case will be described in which the angles of the hip axes at the teaching points RP0 to RP3 and LP0 to LP4 are all substantially the same.

FIG. 5 is a graph showing an example of the relationship between the velocity of the motion trajectory generated by the program of FIG. 4 and time. FIG. 5(A) is a graph showing the relationship between time and speed in the motion trajectory shown in FIG. 3(A). FIG. 5(B) is a graph showing the relationship between time and speed in the motion trajectory shown in FIG. 3(B). The vertical axis shows the moving speed of the arm, and the horizontal axis shows time. Note that the horizontal axis in FIG. 5(A) corresponds to the horizontal axis in FIG. 5(B). Further, the right arm 16R and the left arm 16L accelerate from a certain teaching point, reach the maximum speed, decelerate, and stop at the next teaching point. Furthermore, the area of the velocity graph indicates the distance traveled by the arm.

The control unit 72 controls at least one of the start and end of the operation at the teaching point during the movement of the first arm between the teaching points, based on whether the first angle and the second angle substantially match. Let it be an arm. That is, the control unit 72 controls the right arm 16R and the left arm 16L so that the timing of the start or end of the operation for each teaching point is not synchronized (not synchronized). Thereby, the second arm can perform the next operation without waiting for the completion of the operation of the first arm.

In the example shown in FIGS. 5(A) and 5(B), at t0, the right arm 16R and the left arm 16L start operating substantially simultaneously from the teaching point RP0 and the teaching point LP0, respectively. Next, at t1, the right arm 16R and the left arm 16L reach the teaching point RP1 and the teaching point LP1, respectively. Note that the timings of the teaching points RP1 and LP1 are substantially the same. Next, at t2, the left arm 16L reaches the teaching point LP2. Note that at t2, the right arm 16R is performing an operation between the teaching point RP1 and the teaching point RP2. Next, at t3, the left arm 16L reaches the teaching point LP3. Note that at t3, the right arm 16R is performing an operation between the teaching point RP1 and the teaching point RP2. Next, at t4, the right arm 16R reaches the teaching point RP2. Note that at t4, the left arm 16L is performing an operation between the teaching point LP3 and the teaching point LP4. Next, at t5, the left arm 16L reaches the teaching point LP4 and ends the operation of the left arm trajectory. Note that at t5, the right arm 16R is performing an operation between the teaching point RP2 and the teaching point RP3. Next, at t6, the right arm 16R reaches the teaching point RP3 and ends the right arm trajectory operation.

Therefore, at t2, t3, and t5, the left arm 16L starts and ends the operation at the teaching point, regardless of the timing of the start and end of the operation of the right arm 16R at the teaching point. In this case, the right arm 16R corresponds to the first arm, and the left arm 16L corresponds to the second arm. On the other hand, at t4 and t6, the right arm 16R starts and ends its motion at the teaching point, regardless of the timing at which the left arm 16L starts and ends its motion at the teaching point. In this case, the left arm 16L corresponds to the first arm, and the right arm 16R corresponds to the second arm.

FIG. 6 is a flow diagram showing an example of parallel operation of the right arm 16R and left arm 16L.

As shown in FIG. 6, the right arm 16R and left arm 16L operate in parallel without influencing each other. Therefore, due to timing synchronization, there is almost no wasted waiting time or low-speed operation, and a plurality of arms can be operated efficiently.

As described above, according to the first embodiment, the control unit 72 controls the first angle, which is the angle of the waist axis in the movement of the first arm, included in the program, and the movement of the second arm, which is included in the program. The first arm and the second arm are operated independently from each other based on whether or not the second angle, which is the angle of the waist axis in , substantially coincides with each other. Thereby, the first arm and the second arm can be operated in parallel without synchronizing the timing of the start and end of the operation. As a result, in the robot 10 having a waist axis, a plurality of arms that perform different tasks can be controlled more efficiently.

In a robot having multiple arms, a sequential motion (sequential execution) control method may be used in which the timing of the start and end of the motion of one arm is matched with the start and end timing of another arm.

FIG. 7 is a graph showing an example of the relationship between the velocity of a motion trajectory generated by a sequentially executed program and time. FIG. 7(A) is a graph showing the relationship between time and speed in the motion trajectory shown in FIG. 3(A). FIG. 7(B) is a graph showing the relationship between time and speed in the motion trajectory shown in FIG. 3(B).

Note that, for example, "MOVE ARM1 RPl, ARM2 LPl (l=1, 2, 3)" is used as the sequentially executed program. This program line indicates that both the right arm 16R and the left arm 16L are moved to the next teaching point in one line.

In the example shown in FIGS. 7(A) and 7(B), the right arm 16R and left arm 16L operate in the same manner as in FIGS. 5(A) and 5(B) from t0 to t1. Next, at t2a, the right arm 16R and the left arm 16L reach the teaching point RP2 and the teaching point LP2, respectively. Note that the timings of the teaching points RP2 and LP2 are substantially the same. Next, at t3a, the right arm 16R and the left arm 16L reach the teaching point RP3 and the teaching point LP3, respectively. Note that the timings of the teaching points RP3 and LP3 are substantially the same. Further, the right arm 16R reaches the teaching point RP3 and ends the operation of the right arm trajectory. Next, the left arm 16L reaches the teaching point LP4 and ends the operation of the left arm trajectory.

As shown in FIGS. 3(A) and 3(B), the distance between teaching point LP1 and teaching point LP2 is shorter than the distance between teaching point RP1 and teaching point RP2. Similarly, the distance between teaching point LP2 and teaching point LP3 is shorter than the distance between teaching point RP2 and teaching point RP3. Therefore, from t1 to t3a, the left arm 16L operates at a lower speed than from t1 to t3 shown in FIG. 5(B). That is, the left arm 16L operates at a speed lower than the maximum speed in the period from t1 to t3a. As a result, it takes a long time to complete all operations, resulting in a decrease in efficiency.

FIG. 8 is a flow diagram showing an example of sequential execution of the right arm 16R and the left arm 16L.

As shown in FIG. 8, the right arm 16R and the left arm 16L operate sequentially for each teaching point so as to synchronize the timing of the start and end of the operation.

In contrast, in the first embodiment, as shown in FIG. 6, when the angles of the hip axes substantially match, the plurality of arms are operated in parallel without synchronization. This reduces standby time and suppresses low-speed movement of the arm, thereby improving work efficiency.

Note that the number of arms is not limited to two, and three or more arms may be provided. In this case, for example, the first arm may be a plurality of arms, or the second arm may be a plurality of arms.

Further, the waist axis is not limited to the pivot axis and the tilt axis, but may be an axis that moves the body 14 in parallel with the waist 12.

At least a portion of the robot system 1 according to this embodiment may be configured with hardware or software. When configured with software, a program for realizing at least part of the functions of the robot system 1 may be stored in a recording medium such as a flexible disk or a CD-ROM, and may be read and executed by a computer. The recording medium is not limited to a removable one such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or memory. Furthermore, a program that implements at least some of the functions of the robot system 1 may be distributed via a communication line (including wireless communication) such as the Internet. Furthermore, the program may be distributed in an encrypted, modulated, or compressed state via a wired or wireless line such as the Internet, or stored in a recording medium.

Although several embodiments of the invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included within the scope and gist of the invention as well as within the scope of the invention described in the claims and its equivalents.

1 robot system, 10 robot, 12 waist, 14 torso, 16R right arm, 16L left arm, 71 memory section, 72 control section, JB1 rotation axis, JB2 tilting axis, RP0 to RP3 teaching points, LP0 to LP4 teaching points

Claims (8)

A robot having a plurality of arms and a support part including a shaft that supports an arm connection part provided to connect with the plurality of arms and makes the arm connection part movable;
A first angle, which is the angle of the axis in the movement of the first arm, included in a program for controlling the movement of the robot, and a second angle, which is the angle of the axis in the movement of the second arm, included in the program. A robot system, comprising: a control unit that operates the first arm and the second arm independently of each other based on whether or not substantially coincide with each other. The control unit controls at least one of the start and end of the operation at the teaching point during the operation of the first arm between the teaching points, based on whether the first angle and the second angle substantially match. The robot system according to claim 1 , wherein the second arm is configured to make the second arm. The control unit includes:
When the first angle and the second angle substantially match, the first arm and the second arm are operated independently of each other;
The robot system according to claim 1 or 2, wherein the robot system stops the operations of the first arm and the second arm when the first angle and the second angle do not match. The control unit is configured to set the first angle in a first path including a plurality of consecutive teaching points of the first arm, and the second angle in a second path including a plurality of consecutive teaching points of the second arm. The robot system according to any one of claims 1 to 3, wherein the first arm and the second arm are operated independently of each other based on whether or not substantially coincide with each other. The control unit moves the first arm and the second arm relative to each other based on whether all angles of the axes for each teaching point included in the first path and the second path substantially match. 5. The robot system of claim 4, which operates independently. The robot according to any one of claims 1 to 5, wherein the control unit determines that the plurality of angles of the axes substantially match when a difference between the plurality of angles of the axes is less than or equal to a predetermined value. system. The robot further includes a sensor that detects the angle of the axis,
The control unit sets the detection result of the sensor to the first angle included in the program for each teaching point of the first arm, and sets the detection result of the sensor to the first angle included in the program for each teaching point of the second arm. The robot system according to any one of claims 1 to 6, wherein the second angle is included in the second angle. The robot system according to any one of claims 1 to 7, wherein the axis allows the arm connection portion to at least one of pivot and tilt.

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