Control method for robot system and robot system
A control method for a robot system includes setting a robot arm in a first attitude, performing work in a first region of an object while moving a tool relative to the object by a moving stage with the first attitude maintained, setting the robot arm in a second attitude, imaging the object using a camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained, and performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.
1. A control method for a robot system including a moving stage, a tool attached to the moving stage, a robot arm holding one of the moving stage and an object, and a camera and performing predetermined work on the object using the tool, comprising:
setting the robot arm in a first attitude;
performing the work in a first region of the object while moving the tool relative to the object by the moving stage with the first attitude maintained;
setting the robot arm in a second attitude;
imaging the object using the camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained; and
performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.
2. The control method for a robot system according to claim 1 , wherein
the robot arm holds the moving stage.
3. The control method for a robot system according to claim 2 , wherein
the moving stage holds the tool.
4. The control method for a robot system according to claim 1 , wherein
the moving stage has a piezoelectric actuator as a drive source.
5. The control method for a robot system according to claim 1 , wherein
the tool is a printer head.
6. The control method for a robot system according to claim 1 , wherein
at correcting, the position of the tool is corrected based on a work trace formed in the first region.
7. The control method for a robot system according to claim 1 , wherein
at correcting, the position of the tool is corrected based on a maker placed on the object.
8. The control method for a robot system according to claim 1 , wherein
the camera is placed in the robot.
9. The control method for a robot system according to claim 1 , wherein
the camera is placed on the moving stage.
10. The control method for a robot system according to claim 1 , wherein
the camera is a spectroscopic camera.
11. A robot system including a moving stage, a tool attached to the moving stage, a robot arm holding one of the moving stage and an object, and a camera and performing predetermined work on the object using the tool,
setting the robot arm in a first attitude,
performing the work in a first region of the object while moving the tool relative to the object by the moving stage with the first attitude maintained,
setting the robot arm in a second attitude,
imaging the object using the camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained, and
performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.
12. The control method for a robot system according to claim 1 , wherein
in the first attitude, the movable range of the tool by driving of the moving stage overlaps with the entire the first region.
13. The control method for a robot system according to claim 1 , wherein
in the second attitude, the movable range of the tool by driving of the moving stage overlaps with the entire the second region.