Robot system

Abstract

To provide a robot system that can improve accuracy in performing stop-control of a robot.SOLUTION: The robot system comprises a robot 4, a sensor 6, provided on the robot 4, which outputs a sensor value corresponding to a distance between an object and the sensor, and a control device 7 that controls operation of the robot 4 on the basis of the sensor value. The control device 7 comprises: a first control part 31 that makes the robot 4 execute operation corresponding to each step, in accordance with an operation program constituted of a plurality of steps, a state where there is no interference matter around the robot 4; a setting part 32 that sets correspondence information while associating each step with a sensor value outputted from the sensor 6 during execution of the operation corresponding to each step by the first control part 31; and a second control part 33 that makes the robot 4 execute operation in accordance with the operation program, and performs stop-control of the robot 4 while comparing the sensor value outputted from the sensor 6 with the correspondence information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a robot system. [Background technology]

[0002] There are cases where humans and robots work together to perform tasks on a workpiece. Robots used in such cases are called collaborative robots. These robots may be equipped with capacitance sensors that detect nearby objects.

[0003] For example, Patent Document 1 describes that a robot operates without allowing any objects to enter the robot's surroundings, and the coordinates of the robot's TCP are associated with the output value of the sensor, and the output value is used as a reference output value to control the robot to stop. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6988531 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the coordinates of a robot's TCP are associated with the output values ​​of a sensor as in Patent Document 1, the posture of the robot may differ even if the coordinates are the same. If the posture of the robot differs, the output value of the sensor may change. In other words, even if the TCP coordinates are the same, the output value of the sensor may change depending on the posture of the robot. This may result in a decrease in the accuracy of the robot's stopping control.

[0006] In view of the above-mentioned problems, an object of the present invention is to provide a robot system that can improve the accuracy of stopping control of a robot. [Means for solving the problem]

[0007] In order to solve the above problem, the robot system of the present invention comprises a robot, a sensor provided on the robot and outputting a sensor value according to the distance between the robot and an object, and a control device that controls the operation of the robot based on the sensor value, wherein the control device comprises a first control unit that causes the robot to perform an operation corresponding to each step in accordance with an operation program consisting of a plurality of steps when there are no obstructions around the robot, a setting unit that sets correspondence information by correlating each step with the sensor value output from the sensor while the first control unit is performing the operation corresponding to each step, and a second control unit that causes the robot to perform an operation in accordance with the operation program and compares the sensor value output from the sensor with the correspondence information to control the robot to stop.

[0008] Furthermore, in the robot system, the correspondence information associates each step with the minimum and maximum values ​​of the sensor values ​​output by the first control unit while the operation corresponding to the step is being performed, and the second control unit compares the sensor value with the range indicated by the minimum and maximum values ​​corresponding to each of the steps, and performs stop control of the robot.

[0009] In the robot system, the second control unit stops the operation of the robot when the sensor value deviates from the range by a set value or more.

[0010] In the robot system, the control device further includes a dividing unit that divides the step in which the operating distance of the robot is equal to or greater than a set value into a plurality of steps.

[0011] In addition, in the robot system, the dividing unit divides the steps based on at least one of a position related to the robot, an angle of a joint constituting the robot, an elapsed time, and an interpolation point at which the robot is operated. [Effects of the Invention]

[0012] According to the robot system of the present invention, the accuracy of the stop control of the robot can be improved. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic diagram showing an example of the overall configuration of a robot system according to a first embodiment of the present invention. [Figure 2] 2 is a diagram showing an example of a change in a sensor value of a sensor in FIG. 1. FIG. [Figure 3] 3 is a diagram showing an example of correspondence information corresponding to changes in the sensor values ​​of FIG. 2. FIG. [Figure 4] 10 is a flowchart showing an example of the flow of a process for setting correspondence information by the control device of FIG. [Figure 5] 2 is a flowchart showing an example of the flow of robot operation processing by the control device of FIG. 1. [Figure 6] FIG. 10 is a schematic diagram showing an example of the overall configuration of a robot system according to a second embodiment of the present invention. [Figure 7] 7 is a diagram showing an example of correspondence information when steps are divided by elapsed time in the control device of FIG. 6. FIG. [Figure 8] 7 is a diagram showing an example of correspondence information when steps are divided by angle in the control device of FIG. 6. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components in the drawings will be denoted by the same reference numerals as much as possible, and duplicate descriptions will be omitted where appropriate.

[0015] ===First Embodiment=== First, the first embodiment will be described.

[0016] <Overall structure> FIG. 1 is a diagram schematically illustrating an example of the overall configuration of a robot system 2 according to a first embodiment of the present invention.

[0017] The robot system 2 is an industrial robot that performs processes such as machining and transporting a workpiece. The robot system 2 also uses, for example, a collaborative robot that works in the same space as a person.

[0018] As shown in FIG. 1, the robot system 2 mainly includes a robot 4, a sensor 6, and a control device .

[0019] The robot 4 is an articulated robot and has multiple arms and multiple joints. Specifically, the robot 4 includes a base 8, a first arm A1, a second arm A2, a third arm A3, and a fourth arm A4. The number of arms provided is not limited. The base 8 is the base of the robot 4 and is provided on an installation surface on which the robot 4 is placed. The base 8 is fixed to the floor and supports the entire robot 4. The first arm A1 is connected to the base 8 via a rotation shaft. The first arm A1 is rotated around the rotation shaft relative to the base 8 by a motor (not shown). The second arm A2, the third arm A3, and the fourth arm A4 are rotated around their respective rotation shafts by their respective motors (not shown), similar to the first arm A1. A tool 9 is provided at the tip of the fourth arm A4. The robot 4 performs a predetermined operation by moving each joint, and performs a predetermined process on a workpiece using the tool 9.

[0020] The sensor 6 is a sensor that detects an object such as a person, etc. The sensor 6 is a non-contact sensor that detects the proximity of an object such as a person.

[0021] Specifically, the sensor 6 is a capacitance sensor. The sensor 6 is provided on the robot 4. For example, the sensor 6 is provided on the fourth arm A4 of the robot 4. The sensor 6 may be provided on another part of the robot 4 or on multiple arms, and the installation position is not limited.

[0022] The sensor 6 is configured using a detection electrode 25. The detection electrode 25 is, for example, a flat electrode that generates an electric field. The detection electrode 25 forms a capacitance with a nearby object and generates a voltage corresponding to the capacitance. The capacitance changes depending on the distance between the detection electrode 25 and the object. Therefore, the sensor 6 outputs an output corresponding to the distance between the detection electrode 25 and the object as a sensor value. For example, the sensor 6 amplifies the voltage generated in the detection electrode 25 using an amplifier and outputs the amplified voltage as the sensor value. Furthermore, while the above example illustrates a case in which the sensor 6 is provided on an arm, as long as at least the detection electrode 25 is provided on the arm, other components of the sensor 6, such as an amplifier, may not be provided on the arm.

[0023] The control device 7 is an information processing device that controls the operation of the robot 4. Specifically, the control device 7 controls the robot 4 using sensor values ​​output from the sensors 6. The control device 7 controls the operation of each arm of the robot 4 and the tool 9, causing the robot 4 to perform a predetermined operation. The control device 7 is configured with, for example, a CPU, memory, a communication device, a storage device, an operation device, and a display device, and performs various functions by executing predetermined programs.

[0024] 1 shows the functional blocks included in the control device 7. The control device 7 includes a first control unit 31, a setting unit 32, a second control unit 33, and a notification unit .

[0025] The first control unit 31 operates the robot 4 according to the operation program when there are no obstacles around the robot 4 (when there are no people around).

[0026] An operation program is a program that indicates operation instructions (movement instructions) for the robot 4. The operation program makes it possible to cause the robot 4 to execute pre-set operations. An operation program is made up of multiple steps. A step indicates one of multiple processes that are executed by the operation program. By executing the operation corresponding to each of the multiple steps, the operation of each process is executed, and by executing all the steps, the robot 4 can be made to execute the operations of all processes. Steps are set in advance by dividing the operations of the operation program. For example, a step is set for each division (process) of the operations of the operation program. It should be noted that an operation program may be made up of multiple programs.

[0027] For example, the operation program causes the robot 4 to execute an operation of gripping a workpiece and moving it from one position to another. In this case, the entire operation is divided into a plurality of steps, such as a step of moving the tool 9 to the position of the workpiece and gripping it, a step of moving the workpiece from the gripped position to another position, and a step of releasing the workpiece at the position after movement.

[0028] The first control unit 31 operates the robot 4 in a state where there are no obstacles around the robot 4 (a state where there are no people). It is preferable that the facility environment around the robot 4 (fixed peripheral equipment, etc.) is the same as an environment in which the robot 4 actually works together with people. In this way, the first control unit 31 operates the robot 4 according to the operation program in a state where there are no people (objects that move when the robot 4 operates) entering the area around the robot 4.

[0029] The setting unit 32 associates the sensor values ​​output from the sensor 6 while the first control unit 31 is causing the robot 4 to perform each step with each step, and sets the correspondence information.

[0030] Specifically, the setting unit 32 sequentially acquires sensor values ​​output from the sensor 6 while the robot 4 is being operated by the first control unit 31. FIG. 2 is a diagram showing an example of changes in sensor values ​​over time while an operation program is being executed. FIG. 2 shows an example in which the operation program includes programs P1 and P2, and program P2 is executed after program P1. Program P1 includes steps T11, T12, and T13, and program P2 includes step T21.

[0031] As shown in FIG. 2, the sensor values ​​are affected by surrounding equipment and the like, and the values ​​change. The setting unit 32 associates steps with the sensor values ​​output during the steps. Then, the setting unit 32 associates steps with the minimum and maximum sensor values ​​output during the steps. The setting unit 32 sets the information on the associated steps and sensor values ​​as correspondence information. FIG. 3 is a diagram showing an example of the correspondence information corresponding to FIG. 2. As shown in FIG. 3, step T11 is associated with a minimum value V11min and a maximum value V11max. Furthermore, step T12 is associated with a minimum value V12min and a maximum value V12max. Furthermore, step T13 is associated with a minimum value V13min and a maximum value V13max. Furthermore, step T21 is associated with a minimum value V21min and a maximum value V21max.

[0032] In this way, each step of the operation program is associated with the sensor values ​​(minimum and maximum values). The setting unit 32 records the associated information in the storage device of the control device 7, for example.

[0033] The second control unit 33 causes the robot 4 to perform an operation according to an operation program, and also controls the stopping of the robot 4. The second control unit 33 causes the robot 4 to operate according to an operation program, similar to the first control unit 31. That is, the first control unit 31 and the second control unit 33 cause the robot 4 to perform the same operation (the same operation program). The second control unit 33 causes the robot 4 to operate in a state where there is a person around the robot 4 (a state where a person is permitted to enter). That is, the second control unit 33 causes the robot 4 to perform an operation in a state where it is collaborating with a person.

[0034] Furthermore, the second control unit 33 performs stop control of the robot 4 while the robot 4 is being operated by the operation program. Specifically, the second control unit 33 sequentially acquires sensor values ​​output from the sensor 6 while the robot 4 is being operated. Then, the second control unit 33 compares the acquired sensor values ​​with the correspondence information corresponding to each step. During the operation of a step, the second control unit 33 compares the sensor value output during that step with the range indicated by the minimum and maximum values ​​in the correspondence information corresponding to that step. This range is referred to as the "normal range" because it is the normal value that the sensor value can take when there are no obstructions around the robot 4 (when there are no people).

[0035] The second control unit 33 stops the operation of the robot 4 when the sensor value deviates from the normal range. Specifically, the second control unit 33 stops the operation of the robot 4 when the sensor value deviates from the normal range by more than a set value. The set value is set in advance as a buffer range for the normal range. For example, the operation is stopped even if the robot 4 is in the middle of operating according to the operating program. Note that the second control unit 33 may stop the operation of the robot 4 when the sensor value falls outside the normal range without setting a set value.

[0036] The notification unit 34 issues an error notification when the second control unit 33 determines that the sensor value is out of the normal range. The error notification is given, for example, by a display or sound. That is, the notification indicates that the sensor value has become abnormal.

[0037] In the above example, the second control unit 33 stops the operation of the robot 4 when the sensor value deviates from the normal range. However, if the direction in which the sensor value changes due to the proximity of an object such as a person can be set in advance, the direction of deviation may be set. For example, if the sensor value increases due to the proximity of an object such as a person, the second control unit 33 may stop the robot 4 when the sensor value deviates from the normal range due to the increase. In this case, for example, an error notification may also be issued by the notification unit 34. On the other hand, the second control unit 33 may not stop the robot 4 when the sensor value deviates from the normal range due to a decrease. In this case, for example, an error notification may be issued by the notification unit 34, notifying the robot 4 that the sensor value has become abnormal.

[0038] <Processing flow> 4 is a flowchart showing an example of the flow of the correspondence information setting process by the control device 7 according to this embodiment. Each process in the following steps is executed, for example, in response to a start instruction from the user. Note that the order and content of each of the following steps can be changed as appropriate.

[0039] (Step SP10) The first control unit 31 starts the operation of the robot 4 according to the operation program in a state where there is no interfering object (for example, a person) around the robot 4. Then, the process proceeds to step SP11.

[0040] (Step SP11) The setting unit 32 acquires the sensor value output from the sensor 6 and records it in association with the step being executed. Then, the process proceeds to step SP12.

[0041] (Step SP12) The setting unit 32 determines whether the operation program has ended. If the operation program has not ended, the process returns to step SP11 and the process is executed again. If the operation program has ended, the process proceeds to step SP13.

[0042] (Step SP13) The setting unit 32 associates the step with the minimum and maximum sensor values, and sets the correspondence information, and then the process ends.

[0043] In this way, before the robot 4 is caused to perform an action in collaboration with a person, correspondence information that reflects the state of the surrounding environment of the robot 4 is set.

[0044] FIG. 5 is a flowchart showing an example of the flow of the operation processing of the robot 4 by the control device 7 according to this embodiment. For example, this operation processing is executed when the robot 4 operates in collaboration with a person. Each process in the following steps is executed, for example, in response to a start instruction from the user. Note that the order and content of each step below can be changed as appropriate.

[0045] (Step SP20) The second control unit 33 starts the operation of the robot 4 in accordance with the operation program. Note that this operation starts in a state where people are permitted to enter the area around the robot 4. Then, the process proceeds to step SP21.

[0046] (Step SP21) The second control section 33 acquires the sensor value output from the sensor 6. Then, the process proceeds to step SP22.

[0047] (Step SP22) The second control unit 33 determines whether the sensor value deviates from the normal range of the sensor value for the step corresponding to the operation being executed by more than a set value. If the sensor value deviates from the normal range by more than the set value, the process branches to step SP23. If the sensor value does not deviate from the normal range by more than the set value, the process proceeds to step SP25.

[0048] (Step SP23) The second control unit 33 stops the operation of the robot 4. Then, the process proceeds to step SP24.

[0049] (Step SP24) The notification unit 34 issues an error notification, and the process then ends. Note that, for example, if an instruction to resume operation is received, the operation of the robot 4 is resumed.

[0050] (Step SP25) The second control unit 33 determines whether the operation program has ended. If the operation program has not ended, the process returns to step SP21 and the process is executed again. If the operation program has ended, the process ends.

[0051] <Action and effect> As described above, in this embodiment, the robot 4 is operated in a state where there are no obstacles around the robot 4 (a state where there are no people), and each step is associated with a sensor value, so that a normal value of the sensor value, including the influence of the surrounding facility environment, can be set as correspondence information for each step. Therefore, by using the correspondence information, it is possible to take into account the influence of disturbances due to the surrounding facility environment, etc., which affect the sensor value, and to perform stop control of the robot 4 with high accuracy. Furthermore, each step is associated with the sensor value, and the correspondence information is set. Therefore, the operating state (step) of the robot 4 is associated with the sensor value, including the influence of the posture of the robot 4. This makes it possible to perform stop control taking into account the posture state of the robot 4. In other words, it is possible to improve the accuracy of the stop control.

[0052] Furthermore, for example, when associating the coordinates of the TCP of the robot 4 with the output value of the sensor 6, it is necessary to search for the closest coordinates among the coordinates of the TCP of the robot 4 in operation and the coordinates associated with the output value of the sensor 6 when performing stop control, which may result in a large processing load. However, by associating the steps with the sensor values, the processing load can be reduced.

[0053] Furthermore, by using the minimum and maximum values ​​of the sensor values ​​in the correspondence information, it is possible to set a normal range that the sensor values ​​can take on corresponding to the steps. Therefore, by comparing the sensor values ​​with the correspondence information, it is possible to efficiently control the stopping of the robot 4.

[0054] Furthermore, by stopping the operation of the robot 4 when the sensor value deviates from the normal range by a set value or more, it is possible to appropriately determine the state of the sensor value relative to the normal range and perform stop control.

[0055] === Second Embodiment === Next, a second embodiment will be described.

[0056] In the second embodiment, a case where the steps are further divided will be described. Note that a description of the same points as in the first embodiment will be omitted. Also, the second embodiment can be combined with the first embodiment.

[0057] 6 is a diagram schematically illustrating an example of the overall configuration of a robot system 2 according to the second embodiment. As shown in FIG. 6, the control device 7 further includes a dividing unit 35 as a functional block.

[0058] The dividing unit 35 further divides the preset steps. Specifically, the dividing unit 35 divides a step in which the operating distance of the robot 4 is equal to or greater than a set value into multiple steps. The operating distance is the distance traveled by the robot 4 during its operation. For example, the operating distance is the distance traveled by a reference point of the robot 4, such as the TCP (Tool Center Point), which is the center point of the tool 9 of the robot 4, during its operation. If the operating distance is long, the sensor value may change significantly during the step. Therefore, the dividing unit 35 identifies steps in which the operating distance is equal to or greater than a set value and performs a dividing process. For example, the dividing unit 35 estimates the operating distance of each step from the operation of each step (contents of the operation program) and identifies steps in which the operating distance is equal to or greater than the set value. The dividing unit 35 designates the identified step as a target step.

[0059] Then, the dividing unit 35 divides the target step into a plurality of steps. Specifically, the dividing unit 35 divides the target step using at least one indicator of the position of the robot 4, the angle of the joint constituting the robot 4, the elapsed time, and the interpolation point at which the robot 4 is operated. The position of the robot 4 is the reference position of the robot 4, for example, the TCP. For example, the dividing unit 35 divides the target step so as to divide the trajectory of the TCP moving in the target step. For example, the dividing unit 35 divides the target step so as to equally divide the trajectory of the TCP into a predetermined number of divisions. The angle of the joint constituting the robot 4 is the angle between the arms constituting the robot 4. The angle is, for example, the angle at which the arms rotate about the rotation axis. For example, the dividing unit 35 divides the target step so as to divide the angle of the joint that rotates in the target step. For example, the dividing unit 35 divides the target step so as to equally divide the angle of the joint into a predetermined number of divisions. The elapsed time is the time that has elapsed since the target step started. For example, the dividing unit 35 divides the target step so as to divide the time (total time) required for the robot 4 to move in the target step. For example, the dividing unit 35 divides the target step so as to equally divide the total time into a predetermined number of divisions. The interpolation points at which the robot 4 moves are passing points on the movement path that are set when the reference position (e.g., TCP) of the robot 4 is moved along the movement path. For example, the robot 4 is controlled to move so as to pass through the interpolation points on the movement path at a predetermined period (set period). For example, the dividing unit 35 divides the target step so as to divide the total number of interpolation points set in the target step. For example, the dividing unit 35 divides the target step so as to equally divide the total number of interpolation points along the movement path into a predetermined number of divisions.

[0060] In this way, a step with a long operating distance is divided into multiple steps. The divided steps are then associated with sensor values, just like the other steps. FIG. 7 shows an example in which step T12 in FIG. 3 has a long operating distance and is divided into three steps based on the elapsed time. As shown in FIG. 7, step T12 is divided into three steps, step T12a, step T12b, and step T12c, each with an elapsed time of one second, and a minimum and maximum value are associated with each step. For example, if step T12 requires a total of three seconds, step T12a is set as a step corresponding to the elapsed time between 0 and 1 second, step T12b is set as a step corresponding to the elapsed time between 1 and 2 seconds, and step T12c is set as a step corresponding to the elapsed time between 2 and 3 seconds. Step T12a is associated with the minimum value V12amin and the maximum value V12amax, step T12b is associated with the minimum value V12bmin and the maximum value V12bmax, and step T12c is associated with the minimum value V12cmin and the maximum value V12cmax.

[0061] 8 shows an example in which the movement distance of step T12 in FIG. 3 is long and step T12 is divided into three steps based on the angle. As shown in FIG. 8, step T12 is divided into three steps, step T12d, step T12e, and step T12f, each of which corresponds to an angle of a predetermined joint in 10-degree increments, and a minimum value and a maximum value are associated with each step. For example, if step T12 changes the angle by a total of 30 degrees, step T12d is set as the step corresponding to the angle change from 0 to 10 degrees, step T12e is set as the step corresponding to the angle change from 10 to 20 degrees, and step T12f is set as the step corresponding to the angle change from 20 to 30 degrees. Step T12d is associated with a minimum value V12dmin and a maximum value V12dmax, step T12e is associated with a minimum value V12emin and a maximum value V12emax, and step T12f is associated with a minimum value V12fmin and a maximum value V12fmax.

[0062] In this way, the sensor values ​​(minimum and maximum values) are associated with each divided step. Then, the second control unit 33 determines whether the sensor value corresponding to each divided step has deviated from the normal range and performs stop control of the robot 4.

[0063] <Action and effect> As described above, in this embodiment, a step with a long movement distance is broken down into multiple steps. When the movement distance is long, the sensor value may change significantly. However, by breaking down the steps, the fluctuation range of the sensor value in the broken down steps can be suppressed. Therefore, it is possible to efficiently control the stopping of the robot 4 corresponding to each step.

[0064] Furthermore, by dividing steps based on the position of the robot 4, the angles of the joints, the elapsed time, and the interpolation points, division processing can be performed efficiently.

[0065] === Variations === The present invention is not limited to the above-described embodiments. In other words, designs that are produced by those skilled in the art with appropriate design modifications to the above-described specific examples are also included within the scope of the present invention as long as they include the features of the present invention. Furthermore, the elements of the above-described embodiments and the following modifications can be combined to the extent technically possible, and such combinations are also included within the scope of the present invention as long as they include the features of the present invention.

[0066] In the first embodiment, the sensor 6 is a capacitance sensor, and the voltage generated in the detection electrode 25 is amplified by an amplifier and output. However, the configuration of the sensor 6 is not limited to the above. Specifically, the circuit configuration for outputting the voltage from the detection electrode 25 and the configuration of the amplifier, etc. in the sensor 6 are not limited.

[0067] In the first embodiment, the sensor 6 is a capacitance sensor, but the sensor is not limited to a capacitance sensor as long as it outputs a sensor value according to the distance to an object. For example, the sensor 6 can also be an optical sensor or an ultrasonic sensor.

[0068] In addition, in the second embodiment, the dividing unit 35 divides the target step using the respective indicators of position, angle, elapsed time, and interpolation point as an example, but the target step may also be divided using a combination of multiple indicators. [Explanation of symbols]

[0069] 2: Robot system 4: Robot 6: Sensor 7: Control device 31: First control section 32: Setting section 33: Second control section 35:Divided part P1: Program (operation program) P2: Program (operation program) T11~T13, T21: Step V11max~V13max, V21max: Maximum value V11min~V13min, V21min: minimum value

Claims

1. Robots and a sensor provided on the robot and outputting a sensor value according to a distance between the robot and an object; a control device that controls the operation of the robot based on the sensor values; Equipped with The control device a first control unit that, in a state where there is no obstacle around the robot, causes the robot to perform an operation corresponding to each step according to an operation program composed of a plurality of steps; a setting unit that sets correspondence information by associating each of the steps with the sensor value output from the sensor while the first control unit is executing an operation corresponding to each of the steps; a second control unit that causes the robot to perform an operation in accordance with the operation program and compares the sensor value output from the sensor with the corresponding information to control the robot to stop; A robot system comprising:

2. the correspondence information associates each step with a minimum value and a maximum value of the sensor value output by the first control unit while the operation corresponding to the step is being performed, 2. The robot system according to claim 1, wherein the second control unit compares the sensor value with a range indicated by the minimum value and the maximum value corresponding to each of the steps, and performs stop control of the robot.

3. The robot system according to claim 2 , wherein the second control unit stops the operation of the robot when the sensor value deviates from the range by a set value or more.

4. The control device a dividing unit that divides the step in which the operating distance of the robot is equal to or greater than a set value into a plurality of steps; The robot system according to any one of claims 1 to 3, further comprising:

5. 5. The robot system according to claim 4, wherein the dividing unit divides the steps based on at least one of a position of the robot, an angle of a joint that constitutes the robot, an elapsed time, and an interpolation point that causes the robot to operate.

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