WO2025004213A1 - Robot system, control device therefor, control method, and control program - Google Patents

Abstract

A robot system (1) comprises a tool (30) that performs prescribed machining on a workpiece (W), a robot (20) that relatively moves the tool (30) and the workpiece (W), a camera (40) that acquires a first image of a machining mark formed on the workpiece (W) by the machining, and a control device (10). The control device (10) is provided with at least one memory and at least one processor. The memory stores a plurality of second images of machining marks from when machining is performed by switching parameters relating to the relative orientation of the workpiece (W) and the tool (30), in association with the parameters. The processor compares the first image and the second images, thereby estimating a parameter corresponding to the machining mark in the first image.

Description

ROBOT SYSTEM, CONTROL DEVICE, CONTROL METHOD, AND CONTROL PROGRAM THEREOF

This disclosure relates to a robot system, its control device, control method, and control program.

A robot system is known that includes a grinding device that grinds an object and a robot that adjusts the attitude of the grinding device based on the rotation speed and current value of the drive unit of the grinding device (see, for example, Patent Document 1).

JP 2022-065378 A

When the grinding condition of the object is indirectly detected using the rotation speed and current value of the grinding device as indicators, it is difficult to detect slight deviations of the grinding device relative to the object, making it difficult to grind the object with precision.

Therefore, in a robot system that performs specified processing on an object, it is desirable to be able to correct slight misalignment of the tool relative to the object and perform processing with high precision.

One aspect of the present disclosure is a robot system that includes a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, a camera that captures a first image of processing marks formed on the workpiece by the processing, and a control device, the control device including at least one memory and at least one processor, the memory stores a plurality of second images of the processing marks when the processing is performed by switching parameters related to the relative attitude of the workpiece and the tool, and associates the second images with the parameters, and the processor estimates the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.

FIG. 1 is a perspective view illustrating a robot system according to an embodiment of the present disclosure. 2 is a partial enlarged view showing the posture of a tool during processing by the robot system of FIG. 1. 2 is a schematic diagram showing a surface of a workpiece polished by the robot system of FIG. 1 . FIG. 2 is a schematic diagram showing a first image acquired by a camera of the robot system of FIG. 1 . FIG. 2 is a block diagram showing a configuration of a control device according to an embodiment of the present disclosure. FIG. 6 is a schematic diagram showing a second image stored in the memory of the control device of FIG. 5 . FIG. 6 is a schematic diagram showing a second image stored in the memory of the control device of FIG. 5 . FIG. 6 is a schematic diagram showing a second image stored in the memory of the control device of FIG. 5 . 6 is a flowchart showing a control method performed by the control device of FIG. 5 . FIG. 13 is a schematic diagram showing a first image when the tool is tilted around the X-axis.

A robot system 1, a control device 10, a control method, and a control program according to an embodiment of the present disclosure will be described below with reference to the drawings.
1, a robot system 1 according to this embodiment includes a robot 20 that performs a predetermined task, a tool 30 attached to the tip of the robot 20, and a camera 40 disposed outside the robot 20. The robot system 1 also includes a control device 10 according to this embodiment that controls the robot 20, the tool 30, and the camera 40.

As shown in FIG. 1, the robot 20 is, for example, a six-axis vertical articulated robot.
The robot 20 includes a base 21 placed on an installation surface such as a horizontal floor surface, and a rotating body 22 that is rotatable relative to the base 21 about a vertical first axis A. The robot 20 also includes a first arm 23 that is rotatable relative to the rotating body 22 about a horizontal second axis B, and a second arm 24 that is rotatable relative to the first arm 23 about a third axis C that is parallel to the second axis B. The robot 20 also includes a three-axis wrist unit 25 supported at the tip of the second arm 24.

The wrist unit 25 includes a first wrist element 26 that is rotatable relative to the second arm 24 around a fourth axis D that extends along a plane perpendicular to the third axis C. The wrist unit 25 also includes a second wrist element 27 that is rotatable relative to the first wrist element 26 around a fifth axis E that is perpendicular to the fourth axis D. The wrist unit 25 also includes a third wrist element 28 that is rotatable relative to the second wrist element 27 around a sixth axis F that is perpendicular to the fifth axis E and passes through the intersection of the fourth axis D and the fifth axis E.

As shown in FIG. 2, a tool 30 is attached to the tip of the third wrist element 28 via a force sensor 29. The force sensor 29 is, for example, a six-axis sensor that detects three force components acting on the tool 30 in three orthogonal axial directions and three torque components around each axis.

In this embodiment, the tool 30 is a grinder. For example, as shown in FIG. 1, the tool 30 grinds one or more welding marks S formed in a convex shape on the surface of a flat workpiece W placed on a workbench T. In this case, the force sensor 29 detects the reaction force when the tool 30 comes into contact with the surface of the workpiece W during grinding.

In the example shown in FIG. 2, the tool 30 includes a disk-shaped grindstone 31 and a main body 32 that supports the grindstone 31 rotatably about a central axis CL.
The main body 32 has a shape with a longitudinal axis, and the base end side is supported in a position with its longitudinal axis perpendicular to the sixth axis F by a bracket 33 fixed to the side of the force sensor 29 opposite the third wrist element 28.

Motor 32a is mounted on the tip side of main body 32. Motor 32a has shaft 32b with grinding wheel 31 attached to its tip, and shaft 32b extends in a direction perpendicular to the longitudinal axis of main body 32, that is, in a direction parallel to sixth axis F. In other words, grinding wheel 31 is positioned such that central axis CL, which is the center of rotation, is parallel to sixth axis F.

In addition, a tool coordinate system with three mutually orthogonal axes is defined for the tool 30. As shown in FIG. 2, the tool coordinate system has an origin O at the position on the outer periphery of the lower surface of the grinding wheel 31 that is farthest from the sixth axis F, and has an X-axis, a Y-axis, and a Z-axis that are mutually orthogonal at the origin O.

In the example shown in FIG. 2, the tool coordinate system defines mutually orthogonal X-axis and Z-axis in a plane including the central axis CL of the grinding wheel 31. The Z-axis is set to extend vertically when the central axis CL is tilted forward by a preset reference angle with respect to the vertical direction.

In other words, the grinding wheel 31, which is inclined at a reference angle (reference position), moves near the origin O along the surface of the workpiece W in the X-axis direction while in contact with the surface, as shown in FIG. 2, thereby grinding the weld mark S. Then, as shown in FIG. 3, a band-shaped grinding mark (machining mark) s1 is formed on the surface of the workpiece W, which is made up of continuous arc-shaped grinding marks in the X-axis direction.

Camera 40 is, for example, a two-dimensional camera that captures two-dimensional images. As shown in Figs. 1 and 2, camera 40 is installed facing downward above worktable T, and captures the surface of workpiece W within its angle of view. Camera 40 can capture a first image P1 that includes, for example, welding marks S on the surface of workpiece W and grinding marks s1 formed when part of the welding marks S is ground, as shown in Fig. 4.

As shown in FIG. 5, the control device 10 includes at least one memory 2 such as a ROM or a RAM, at least one processor 3 such as a CPU, an input device 4, and a transmitter/receiver 5.

The memory 2 stores an operation program 2a that controls the operation of the robot 20 and the tool 30 when polishing the weld mark S on the surface of the workpiece W. The memory 2 also stores a correction program (control program) 2b that corrects the posture of the tool 30 when polishing is performed by executing the operation program 2a. The memory 2 also stores a second image P2, which will be described later.

Operation program 2a includes a surface alignment command to bring the entire lower surface of grinding wheel 31 into contact with the surface of the workpiece W and align the lower surface of grinding wheel 31 with the surface of the workpiece W by force control based on the reaction force detected by force sensor 29. Operation program 2a also includes a command to, after performing surface alignment, pull grinding wheel 31 upward from the surface of the workpiece W and set tool 30 to a reference posture in which tool 30 is tilted forward by a reference angle around the Y axis of the tool coordinate system (see FIG. 2). Operation program 2a also includes a command to rotate grinding wheel 31 around central axis CL while maintaining the reference posture, and move grinding wheel 31 along the direction in which welding mark S extends while bringing the vicinity of origin O of grinding wheel 31 into contact with the surface of the workpiece W.

The correction program 2b includes a group of control commands for correcting the posture of the tool 30. For example, when a slight tilt occurs between the lower surface of the grindstone 31 and the surface of the workpiece W when the two are brought into surface alignment, the correction program 2b corrects the posture of the tool 30 when the tool 30 is disposed at an angle relative to the reference posture in which the tool 30 should be disposed.
More specifically, the processor 3 sends an image capturing command to the camera 40 based on the correction program 2b, and causes the camera 40 to acquire a first image P1. Furthermore, the processor 3 receives the first image P1 from the camera 40 based on the correction program 2b, and compares the first image P1 with a second image P2 (described later) stored in the memory 2. Then, based on the comparison result, the inclination (deviation) of the tool 30 with respect to the reference attitude is corrected.

6 to 8 show examples of the second image P2 stored in the memory 2. The second image P2 is, for example, an image captured by the camera 40 of polishing marks s2 formed by performing a preliminary polishing process with the tool 30 on a test workpiece on which a reference line S' corresponding to the welding mark S has been drawn.
Fig. 6 is a second image P2 of the polishing marks s2 formed when the tool 30 is correctly placed in the reference posture. Fig. 7 is a second image P2 when the tool 30 is tilted by a predetermined angle only around the X-axis with respect to the reference posture, and Fig. 8 is a second image P2 when the tool 30 is tilted by a predetermined angle only around the Y-axis with respect to the reference posture.

The memory 2 stores angular deviation amounts (parameters) 2c around the X, Y, and Z axes of the tool 30 corresponding to each second image P2 with respect to the reference posture, in association with each second image P2.
That is, the second image P2 shown in Fig. 6 is associated with zero as the angular deviation amount 2c around the X-axis, Y-axis, and Z-axis. On the other hand, the second image P2 shown in Fig. 7 is associated with a non-zero value as the angular deviation amount 2c around the X-axis, and the second image P2 shown in Fig. 8 is associated with a non-zero value as the angular deviation amount 2c around the Y-axis.

The second image P2 is an image captured by the camera 40 each time the tool 30 is rotated at a predetermined small angle interval only around the X-axis, only around the Y-axis, and only around the Z-axis, and multiple images are stored in the memory 2.
The processor 3 determines the second image P2 that is closest to the first image P1 by matching, and reads out the deviation amount 2c associated with it, thereby making it possible to estimate the deviation amount of the tool 30 from the reference posture. In other words, it is possible to estimate the relative posture of the tool 30 with respect to the workpiece W.
The processor 3 can then determine the amount of correction for the attitude of the tool 30 based on the estimated amount of deviation of the tool 30 .

The input device 4 is, for example, a keyboard, a touch panel, an operation panel, etc., and is a device that accepts an instruction from an operator to execute the operation program 2a or the correction program 2b. The transmission/reception unit 5 transmits and receives signals to and from the robot 20, the tool 30, the camera 40, etc., based on the operation program 2a and the correction program 2b.

A control method performed by the control device 10 of the robot system 1 according to this embodiment configured as above will be described with reference to the flowchart shown in FIG.
In the following, as shown in FIG. 3, an example will be described in which one of a plurality of welding marks S formed linearly on the surface of the workpiece W is polished from one end side to the other end side.

First, the control device 10 of the robot system 1 according to this embodiment aligns the underside of the grindstone 31 with the surface of the workpiece W in accordance with the operation program 2a, and then places the tool 30 in a reference posture. The control device 10 then rotates the grindstone 31 around the central axis CL, and brings the vicinity of the origin O of the grindstone 31 into contact with one end of the weld mark S so that the reaction force acting on the tool 30 detected by the force sensor 29 becomes a predetermined magnitude (see FIG. 2). Then, from this state, the grindstone 31 is moved from one end of the weld mark S to the other end along the surface of the workpiece W, thereby starting the polishing process of the weld mark S (step S1).

In the control method according to the present embodiment, when it is detected that the tool 30 has moved a predetermined distance in the direction along the X-axis after the start of the polishing process (step S2), the correction program 2b is executed by the processor 3. When the correction program 2b is executed, the polishing process is interrupted (step S3).
Then, in accordance with the correction program 2b, the control device 10 causes the camera 40 to photograph the processing mark s1 formed between the start and interruption of the polishing process and a portion of the remaining welding mark S, and obtain a first image P1 (step S4).

In this case, for example, if the posture of the tool 30 is slightly shifted around the X-axis from the reference posture, the polishing mark s1 in the first image P1 will be formed shifted from the welding mark S, which is the target position, as shown in FIG. 10.

The first image P1 captured by the camera 40 is sent to the control device 10 via the transmitting/receiving unit 5, where it is subjected to image processing.
The control device 10 then compares the processed first image P1 with a plurality of second images P2 previously stored in the memory 2 as shown in Fig. 6 to Fig. 8 (step S5). Specifically, the processor 3 compares the position and shape of the grinding marks s1 relative to the welding marks S in the first image P1 with the position and shape of the grinding marks s2 relative to each reference line S' in the plurality of second images P2. The control device 10 then selects the second image P2 that includes the grinding marks s2 whose position and shape are closest to the grinding marks s1 in the first image P1, and reads out from the memory 2 the deviation amount 2c stored in association with the selected second image P2.

If the read deviation amount 2c is zero, i.e., if the selected second image P2 is the image shown in FIG. 6, the processor 3 determines that the attitude of the tool 30 is not deviated from the reference attitude (step S6). Then, when it is determined that the attitude of the tool 30 is not deviated from the reference attitude, the processor 3 resumes the interrupted polishing process according to the operation program 2a (step S9).

On the other hand, if the read-out deviation amount 2c is other than zero, that is, if the selected second image P2 is an image other than that shown in Fig. 6, the processor 3 determines that the processing mark s1 is deviated from the target position (step S6). Then, the processor 3 corrects the attitude of the tool 30 by operating the robot 20 in a direction that cancels out the read-out deviation amount 2c (step S7).
Then, with the attitude of the tool 30 corrected, the polishing process based on the operation program 2a is resumed (step S8), and the process returns to step S2.

Then, steps S2 to S8 are repeated until the second image P2 that is closest to the acquired first image P1 becomes the image shown in FIG. 6. This corrects all misalignments around the X, Y, and Z axes of the tool 30. In this case, with all misalignments corrected, polishing may be performed from the beginning, or polishing of the remaining weld marks S may be performed.

In this way, the robot system 1, control device 10, control method, and control program according to this embodiment can correct the posture of the tool 30 when it starts polishing if it is not in the reference posture in which it should be placed. In other words, even if the grindstone 31 of the tool 30 is a relatively soft buff or the like and surface alignment cannot be performed with precision by force control, the precision of the polishing can be improved.

In addition, in this case, the correction of the posture of the tool 30 is performed when the weld mark S has been polished a specified distance, i.e., at the beginning of the polishing process, so it is possible to prevent the tool 30 from continuing to polish with the posture in a misaligned state. Therefore, it is possible to minimize the amount of polishing that is left behind due to the misalignment of the tool 30, and it is also possible to shorten the time required for the polishing process.

In this embodiment, the object to be processed is the weld mark S formed on the surface of the flat workpiece W, but this is not limited to this. The workpiece W may have a gently curved surface, and the object to be processed may be the weld mark or the like formed on the curved surface.
In the present embodiment, a grinder for polishing is exemplified as the tool 30. However, the tool 30 is not limited to this. For example, the tool 30 may be any tool that performs scraping, cutting, laser processing, or the like on a workpiece.

In addition, in this embodiment, the polishing process is performed by bringing the tool 30 attached to the tip of the robot 20 into contact with the workpiece W installed outside, but the positions of the workpiece W and the tool 30 may be interchanged. In other words, the polishing process may be performed by bringing the workpiece W attached to the tip of the robot 20 into contact with the tool 30 fixed outside.

In addition, in this embodiment, the camera 40 is positioned above the work table T, but it may be positioned at any position as long as it can capture an image of the surface of the workpiece W and the machining marks s1 formed thereon. For example, the camera 40 may be attached to the tip of the wrist of the robot 20 and positioned so that the vicinity of the origin O of the grinding wheel 31 is within the angle of view. In this case, there is an advantage that the polishing marks s1 formed by the polishing process can be captured at a closer position, making it possible to obtain a highly accurate first image P1.

In addition, in this embodiment, the first image P1 acquired by executing the correction program 2b and the deviation amount of the attitude of the tool 30 estimated based on the first image P1 may be additionally stored in the memory 2. That is, the control device 10 may perform one or more corrections and associate all the correction amounts when there is finally no deviation amount with the first image P1 acquired first after the start of the correction program 2b as deviation amounts, and store them in the memory 2 for comparison. The control device 10 may then use a so-called machine learning function to estimate the deviation amounts around all axes X, Y, and Z at once from the acquired first image P1.

In addition, in this embodiment, the attitude of the tool 30 is adjusted by operating the robot 20. Alternatively, if the tool 30 itself has a drive mechanism for changing its attitude, the drive mechanism of the tool 30 may be operated by an amount corresponding to the deviation in the attitude of the tool 30 estimated by the method similar to that described above. In this case, the attitude of the tool 30 can be corrected while maintaining the attitude of the robot 20.

Further, in this embodiment, the control device 10 changes the attitude of the tool 30 based on the estimated deviation amount of the attitude of the tool 30, but instead, the arrangement of the tool coordinate system set on the tool 30 may be changed.
For example, if the posture of the tool 30 at the start of polishing is tilted around the X-axis with respect to the reference posture, the tool coordinate system set for the tool 30 is reset by tilting around the X-axis by the same amount as the tilt of the tool 30 and in the opposite direction. This allows the robot 20 to operate based on the tool coordinate system tilted in a direction that cancels the deviation in the posture of the tool 30. Therefore, in the operation program 2a executed after the tool coordinate system is reset, the posture of the tool 30 is corrected.

In addition, in this embodiment, the control device 10 may correct the posture deviation of the tool 30 and adjust the contact pressure of the tool 30 on the workpiece W based on the reaction force acting on the tool 30 detected by the force sensor 29.
This makes it possible to prevent the contact pressure acting on the tool 30 from unintentionally increasing and exceeding the allowable value during polishing after the posture of the tool 30 is corrected.

In addition, in this embodiment, the amount of correction of the attitude of the tool 30 may be adjusted depending on the type of the tool 30.
For example, a plurality of second images P2 and the deviation amounts 2c of the tool 30 are stored in the memory 2 in association with each of a plurality of grindstones 31 having different grit sizes.
As a result, even if the grit size of the grindstone 31 is changed during a series of polishing processes, the posture of the tool 30 after the grindstone 31 is changed can be corrected with high accuracy.

Similarly, in this embodiment, the amount of correction of the attitude of the tool 30 may be adjusted depending on the period of use of the tool 30 .
For example, for each period of use of the grindstone, i.e., for each wear state, a plurality of second images P2 and the deviation amounts 2c of the tool 30 are associated with each other and stored in the memory 2. This makes it possible to prevent the accuracy of the correction of the attitude of the tool 30 from being deteriorated due to differences in the wear state of the grindstone 31.

In addition, in this embodiment, a method for correcting the deviation around each axis of the tool coordinate system of the tool 30 is exemplified, but a similar method can also be used to correct the position deviation in each axial direction of the tool 30.

In addition, in this embodiment, the control device 10 controls the robot 20 so that the posture of the tool 30 is corrected based on the deviation in the estimated posture of the tool 30. Alternatively, the robot system 1 may be provided with a display device, and the control device 10 may display the direction and magnitude of the deviation in the estimated posture of the tool 30 on the display device, to allow the worker to correct the posture of the tool 30.

Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention, or without departing from the idea and intent of the present invention derived from the contents described in the claims and their equivalents. For example, in the above-mentioned embodiments, the order of each operation and the order of each process are shown as examples, and are not limited to these.

The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples.
(Appendix 1)
A robot system comprising: a tool that performs a predetermined processing on a workpiece; a robot that moves the tool and the workpiece relatively; a camera that acquires a first image of processing marks formed on the workpiece by the processing; and a control device, the control device having at least one memory and at least one processor, the memory stores a plurality of second images of the processing marks when the processing is performed by switching parameters related to the relative attitude of the workpiece and the tool, corresponding to the parameters, and the processor estimates the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.
(Appendix 2)
2. The robot system of claim 1, wherein the processor adjusts the relative posture of the workpiece and the tool based on the estimated parameters.
(Appendix 3)
A robot system as described in Appendix 2, comprising a drive mechanism capable of changing the posture of the tool, wherein the processor adjusts the posture of the tool by operating the drive mechanism based on the estimated parameters.
(Appendix 4)
3. The robot system of claim 2, wherein the processor adjusts the posture of the tool by controlling the robot based on the estimated parameters.
(Appendix 5)
5. The robot system of claim 4, wherein the tool is attached to the robot, a tool coordinate system is set on the tool with the tip point of the tool as its origin, and the processor adjusts the angle of the tool about the origin of the tool coordinate system by controlling the robot based on the estimated parameters.
(Appendix 6)
3. The robot system of claim 2, wherein the tool is attached to the robot, a tool coordinate system is set on the tool with the tip point of the tool as its origin, and the processor adjusts the angle of the tool coordinate system around the origin of the tool coordinate system based on the estimated parameters.
(Appendix 7)
7. The robot system according to claim 2, wherein the processor associates the first image with the parameters estimated for the first image and stores the associated first image in the memory.
(Appendix 8)
8. The robot system according to claim 2, wherein the memory stores the second image and the parameters in association with a type of the tool.
(Appendix 9)
9. The robot system of claim 2, wherein the memory stores the second image and the parameters in association with a period of use of the tool.
(Appendix 10)
10. The robot system of claim 2, further comprising a sensor capable of detecting a force acting on the tool, wherein the processor adjusts a contact pressure between the workpiece and the tool during the machining based on the force detected by the sensor.
(Appendix 11)
A control device for a robot system comprising a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of processing marks formed on the workpiece by the processing, the control device comprising at least one memory and at least one processor, wherein the memory stores a plurality of second images of the processing marks when the processing is performed by switching parameters related to the relative attitude between the workpiece and the tool, in correspondence with the parameters, and the processor estimates the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.
(Appendix 12)
A control method for a robot system including a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of processing marks formed on the workpiece by the processing, the control method storing a plurality of second images of the processing marks when the processing is performed by switching parameters related to the relative posture between the workpiece and the tool in correspondence with the parameters, and estimating the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.
(Appendix 13)
A control program for a robot system including a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of processing marks formed on the workpiece by the processing, the control program causing a computer to execute the following steps: store a plurality of second images of the processing marks when the processing is performed by switching parameters related to the relative posture between the workpiece and the tool, correspond to the parameters, and estimate the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.

1 Robot system 2 Memory 2c Displacement amount (parameter)
3 Processor 10 Control device 20 Robot 29 Force sensor (sensor)
30 Tool 40 Camera O Origin P1 First image P2 Second image s1 Grinding marks (processing marks)
s2 Polishing marks (processing marks)
Double Work

Claims (13)

A tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, a camera that acquires a first image of a processing mark formed on the workpiece by the processing, and a control device,
the control device comprises at least one memory and at least one processor;
the memory stores a plurality of second images of machining marks when the machining is performed by switching a parameter related to a relative attitude between the workpiece and the tool, in association with the parameter;
A robot system in which the processor estimates the parameters corresponding to processing marks in the first image by comparing the first image with the second image. The robot system of claim 1, wherein the processor adjusts the relative posture between the workpiece and the tool based on the estimated parameters. A drive mechanism capable of changing the attitude of the tool is provided,
The robot system of claim 2 , wherein the processor adjusts the attitude of the tool by operating the drive mechanism based on the estimated parameters. The robot system of claim 2, wherein the processor adjusts the attitude of the tool by controlling the robot based on the estimated parameters. The tool is attached to the robot;
A tool coordinate system having a tip point of the tool as its origin is set for the tool;
The robot system of claim 4 , wherein the processor adjusts an angle of the tool about the origin of the tool coordinate system by controlling the robot based on the estimated parameters. The tool is attached to the robot;
A tool coordinate system having a tip point of the tool as its origin is set for the tool;
The robotic system of claim 2 , wherein the processor adjusts an angle of the tool coordinate system about the origin of the tool coordinate system based on the estimated parameters. The robot system according to any one of claims 2 to 6, wherein the processor associates the first image with the parameters estimated for the first image, and stores the associated first image in the memory. The robot system according to any one of claims 2 to 7, wherein the memory stores the second image and the parameters in association with the type of the tool. The robot system according to any one of claims 2 to 8, wherein the memory stores the second image and the parameters in association with the period of use of the tool. A sensor capable of detecting a force acting on the tool;
The robot system according to claim 2 , wherein the processor adjusts a contact pressure between the workpiece and the tool during the machining based on the force detected by the sensor. A control device for a robot system including a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of a processing mark formed on the workpiece by the processing,
At least one memory and at least one processor;
the memory stores a plurality of second images of machining marks when the machining is performed by switching a parameter related to a relative attitude between the workpiece and the tool, in association with the parameter;
A control device in which the processor estimates the parameter corresponding to the processing marks in the first image by comparing the first image with the second image. A control method for a robot system including a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of a processing mark formed on the workpiece by the processing,
storing a plurality of second images of machining marks when the machining is performed by switching a parameter related to a relative attitude between the workpiece and the tool, in association with the parameter;
A control method for estimating the parameter corresponding to the processing marks in the first image by comparing the first image with the second image. A control program for a robot system including a tool that performs a predetermined processing on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of a processing mark formed on the workpiece by the processing,
storing a plurality of second images of machining marks when the machining is performed by switching a parameter related to a relative attitude between the workpiece and the tool, in association with the parameter;
A control program that causes a computer to execute a process of estimating the parameter corresponding to the processing mark in the first image by comparing the first image with the second image.

Images