Robot system, control device therefor, control method, and control program

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, its control device, control method, and control program

[0001] The present disclosure relates to a robot system, a control device thereof, a control method, and a control program.

[0002] BACKGROUND ART 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 a drive unit of the grinding device (see, for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2022-065378

[0004] When the grinding condition of an 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 accurately.

[0005] Therefore, in a robot system that performs predetermined processing on an object, it is desirable to be able to correct slight deviations of the tool relative to the object and perform processing with high precision.

[0006] One aspect of the present disclosure is 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 comprising at least one memory and at least one processor, the memory storing 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, and associating the second images with the parameters, and the processor estimating the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.

[0007] 5 is a perspective view showing a robot system according to an embodiment of the present disclosure. FIG. 1 is a partially enlarged view showing the attitude of a tool during processing by the robot system of FIG. 1. FIG. 2 is a schematic view showing the surface of a workpiece polished by the robot system of FIG. 1. FIG. 3 is a schematic view showing a first image acquired by a camera of the robot system of FIG. 1. FIG. 4 is a block diagram showing a configuration of a control device according to an embodiment of the present disclosure. FIG. 5 is a schematic view showing a second image stored in a memory of the control device of FIG. 5. FIG. 6 is a schematic view showing a second image stored in a memory of the control device of FIG. 5. FIG. 7 is a flowchart showing a control method by the control device of FIG. 5. FIG. 8 is a schematic view showing a first image when the tool is tilted around the X-axis.

[0008] 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. As shown in Fig. 1, the 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.

[0009] 1, the robot 20 is, for example, a six-axis vertical articulated robot. The robot 20 includes a base 21 that is placed on an installation surface such as a horizontal floor, 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.

[0010] The wrist unit 25 includes a first wrist element 26 that is rotatable relative to the second arm 24 about 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 about 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 about 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.

[0011] 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 axis directions and three torque components around each axis.

[0012] In this embodiment, the tool 30 is a grinder. For example, as shown in Fig. 1, the tool 30 grinds one or more weld 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 a reaction force generated when the tool 30 comes into contact with the surface of the workpiece W during grinding.

[0013] 2 , the tool 30 includes a disk-shaped grinding stone 31 and a main body 32 that supports the grinding stone 31 rotatably about a central axis CL. The main body 32 has a shape with a longitudinal axis, and its base end is supported by a bracket 33 fixed to the side surface of the force sensor 29 opposite the third wrist element 28, in an orientation in which the longitudinal axis is perpendicular to the sixth axis F.

[0014] A motor 32a is mounted on the tip side of the main body 32. The motor 32a has a shaft 32b with the grinding wheel 31 attached to its tip, and the shaft 32b extends in a direction perpendicular to the longitudinal axis of the main body 32, that is, in a direction parallel to the sixth axis F. In other words, the grinding wheel 31 is disposed in an orientation in which the central axis CL, which is the center of rotation, is parallel to the sixth axis F.

[0015] 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 a 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 orthogonal to each other at the origin O.

[0016] 2, the tool coordinate system defines an X-axis and a Z-axis that are orthogonal to each other in a plane including the central axis CL of the grinding wheel 31. The Z-axis is set to extend in the vertical direction when the central axis CL is tilted forward by a preset reference angle with respect to the vertical direction.

[0017] That is, the grinding wheel 31, which is in a position tilted by a reference angle (reference position), moves near the origin O along the surface in the X-axis direction while contacting the surface of the workpiece W, as shown in Fig. 2, thereby grinding the welding mark S. Then, on the surface of the workpiece W, a band-shaped grinding mark (processing mark) s1 is formed, which is made up of arc-shaped grinding marks that are continuous in the X-axis direction, as shown in Fig. 3.

[0018] The camera 40 is, for example, a two-dimensional camera that captures two-dimensional images. As shown in Figures 1 and 2, the camera 40 is installed facing downward above the work table T, and the surface of the workpiece W is included in the angle of view. The camera 40 can capture a first image P1 that includes, for example, a welding mark S on the surface of the workpiece W and a grinding mark s1 formed when a part of the welding mark S is ground, as shown in Figure 4.

[0019] 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.

[0020] The memory 2 stores an operation program 2a that controls the operation of the robot 20 and the tool 30 when polishing the weld marks 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.

[0021] The operation program 2a includes a surface matching command for bringing the entire lower surface of the grinding wheel 31 into contact with the surface of the workpiece W and aligning the lower surface of the grinding wheel 31 with the surface of the workpiece W through force control based on the reaction force detected by the force sensor 29. The operation program 2a also includes a command for, after performing the surface matching, pulling the grinding wheel 31 upward from the surface of the workpiece W and setting the tool 30 to a reference posture in which it is tilted forward by a reference angle around the Y axis of the tool coordinate system (see FIG. 2). The operation program 2a also includes a command for rotating the grinding wheel 31 around the central axis CL while maintaining the reference posture, and for moving the grinding wheel 31 along the direction in which the welding mark S extends while bringing the vicinity of the origin O of the grinding wheel 31 into contact with the surface of the workpiece W.

[0022] The correction program 2b includes a group of control commands for correcting the attitude of the tool 30. For example, when a slight tilt occurs between the underside of the grinding wheel 31 and the surface of the workpiece W when the two are brought into surface alignment, causing the tool 30 to be positioned at an angle relative to the reference attitude at which the tool 30 should be positioned. More specifically, based on the correction program 2b, the processor 3 sends an image capture command to the camera 40 to cause the camera 40 to acquire a first image P1. Furthermore, based on the correction program 2b, the processor 3 receives the first image P1 from the camera 40 and compares the first image P1 with a second image P2 (described below) stored in the memory 2. Then, based on the comparison result, the processor 3 corrects the tilt (deviation) of the tool 30 relative to the reference attitude.

[0023] Examples of the second image P2 stored in the memory 2 are shown in FIGS. 6 to 8. The second image P2 is, for example, an image captured by the camera 40 of polishing marks s2 formed by preliminary polishing using 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 positioned in the reference posture. FIG. 7 is a second image P2 obtained 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 obtained when the tool 30 is tilted by a predetermined angle only around the Y axis with respect to the reference posture.

[0024] The memory 2 stores angular deviation amounts (parameters) 2c of the tool 30 around the X, Y, and Z axes relative to the reference attitude of each second image P2, in association with the second image P2. That is, zero is associated with the second image P2 shown in Fig. 6 as the angular deviation amounts 2c around the X, Y, and Z axes. On the other hand, a non-zero value is associated with the second image P2 shown in Fig. 7 as the angular deviation amount 2c around the X axis, and a non-zero value is associated with the second image P2 shown in Fig. 8 as the angular deviation amount 2c around the Y axis.

[0025] The second image P2 is an image acquired by the camera 40 each time the tool 30 is rotated at predetermined small angular intervals only around the X-axis, only around the Y-axis, and only around the Z-axis, and multiple second images P2 are stored in the memory 2. The processor 3 determines the second image P2 that is closest to the first image P1 by comparison, and by reading out the deviation amount 2c associated with it, it is possible to estimate the deviation amount of the tool 30 from the reference attitude. In other words, it is possible to estimate the relative attitude of the tool 30 with respect to the workpiece W. Then, the processor 3 can calculate the amount of correction for the attitude of the tool 30 based on the estimated deviation amount of the tool 30.

[0026] The input device 4 is, for example, a keyboard, a touch panel, an operation panel, etc., and is a device that receives an instruction from an operator to execute the operation program 2 a or the correction program 2 b. The transmitter / receiver 5 transmits and receives signals to and from the robot 20, the tool 30, the camera 40, etc., based on the operation program 2 a and the correction program 2 b.

[0027] A control method by the control device 10 of the robot system 1 according to this embodiment configured as described above will be described with reference to the flowchart shown in Fig. 9. In the following, an example will be described in which one of a plurality of weld marks S formed linearly on the surface of the workpiece W is polished from one end to the other end, as shown in Fig. 3.

[0028] First, the control device 10 of the robot system 1 according to this embodiment aligns the underside of the grinding stone 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 grinding stone 31 about the central axis CL, bringing the vicinity of the origin O of the grinding stone 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, reaches a predetermined magnitude (see FIG. 2 ). From this state, the grinding stone 31 is then moved from one end of the weld mark S toward the other end along the surface of the workpiece W, thereby starting polishing of the weld mark S (step S1).

[0029] In the control method according to this embodiment, when it is detected that the tool 30 has moved a predetermined distance along the X-axis since the start of the polishing process (step S2), the processor 3 executes the correction program 2b. 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 capture an image of the processing mark s1 formed between the start and interruption of the polishing process and a portion of the remaining welding mark S, thereby acquiring a first image P1 (step S4).

[0030] 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 Figure 10.

[0031] The first image P1 captured by the camera 40 is sent to the control device 10 via the transceiver 5 and subjected to image processing. The control device 10 then compares the processed first image P1 with multiple second images P2 pre-stored in the memory 2, as shown in Figures 6 to 8 (step S5). Specifically, the processor 3 compares the position and shape of the polishing marks s1 relative to the welding marks S in the first image P1 with the position and shape of the polishing marks s2 relative to each reference line S' in the multiple second images P2. The processor 3 then selects the second image P2 that includes the polishing marks s2 whose position and shape are closest to the polishing marks s1 in the first image P1, and reads from the memory 2 the deviation amount 2c stored in association with the selected second image P2.

[0032] If the read-out 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).

[0033] On the other hand, if the read-out deviation amount 2c is other than zero, i.e., if the selected second image P2 is an image other than that shown in Figure 6, the processor 3 determines that the machining mark s1 is deviated from the target position (step S6).Then, the processor 3 corrects the posture 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 posture 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.

[0034] Thereafter, steps S2 to S8 are repeated until the second image P2, which is closest to the acquired first image P1, becomes the image shown in Fig. 6. This corrects all deviations around the X, Y, and Z axes of the tool 30. In this case, with all deviations corrected, polishing may be performed from the beginning, or polishing of the remaining weld marks S may be performed.

[0035] As described above, the robot system 1, the control device 10, the control method, and the control program according to this embodiment can correct the posture of the tool 30 when it starts polishing if the posture is not the reference posture in which it should be placed. That is, even if the grinding stone 31 of the tool 30 is a relatively soft buff or the like and surface alignment cannot be performed accurately by force control, the precision of the polishing can be improved.

[0036] Furthermore, in this case, the correction of the posture of the tool 30 is performed when the weld mark S has been polished a predetermined distance, i.e., at the beginning of the polishing process, so it is possible to prevent polishing from continuing with the posture of the tool 30 in a misaligned state. Therefore, it is possible to minimize the amount of polishing that is left unpolished due to a misalignment of the tool 30, and it is also possible to shorten the time required for the polishing process.

[0037] In this embodiment, the weld marks S formed on the surface of the flat workpiece W are the object to be machined. However, the present invention is not limited to this. The workpiece W may have a gently curved surface, and the weld marks formed on the curved surface may be the object to be machined. Also, in this embodiment, a grinder for polishing is exemplified as the tool 30, but the present invention is not limited to this. For example, the tool 30 may be any tool that performs scraping, cutting, laser processing, or the like on the object to be machined.

[0038] Furthermore, 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 placed outside, but the positions of the workpiece W and the tool 30 may be reversed. That is, 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.

[0039] Furthermore, in this embodiment, the camera 40 is placed above the work table T, but it may be placed at any position as long as it is able to 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 included in 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, and a highly accurate first image P1 can be obtained.

[0040] Furthermore, 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 correction amounts when there is no deviation at all with the first image P1 acquired initially after the start of the correction program 2b, and store the correction amounts for comparison in the memory 2. The control device 10 may then use a so-called machine learning function to estimate the deviation amounts around all of the X, Y, and Z axes at once from the acquired first image P1.

[0041] 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 same method as above. In this case, the attitude of the tool 30 can be corrected while maintaining the attitude of the robot 20.

[0042] Furthermore, in this embodiment, the control device 10 changes the attitude of the tool 30 based on the estimated deviation in the attitude of the tool 30. However, instead, the position of the tool coordinate system set for the tool 30 may be changed. For example, if the attitude of the tool 30 at the start of polishing is tilted around the X axis with respect to the reference attitude, the tool coordinate system set for the tool 30 is reset by tilting it around the X axis by the same amount as the tilt of the tool 30 but in the opposite direction. This allows the robot 20 to operate based on the tool coordinate system tilted in a direction that cancels out the deviation in the attitude of the tool 30. Therefore, in the operation program 2a executed after the tool coordinate system is reset, the attitude of the tool 30 is corrected.

[0043] Furthermore, in this embodiment, the control device 10 may correct the deviation in the posture 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 processing after the posture of the tool 30 has been corrected.

[0044] Furthermore, in this embodiment, the amount of correction for the attitude of the tool 30 may be adjusted depending on the type of tool 30. For example, a plurality of second images P2 and deviation amounts 2c of the tool 30 are associated with each other for a plurality of grinding stones 31 of different grits and stored in the memory 2. This allows the attitude of the tool 30 after the grinding stone 31 is changed to be corrected with high accuracy, even when the grit of the grinding stone 31 is changed during a series of polishing processes.

[0045] 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 state of wear, a plurality of second images P2 and the amount of deviation 2c of the tool 30 are associated and stored in the memory 2. This makes it possible to prevent the accuracy of correction of the attitude of the tool 30 from being degraded due to differences in the state of wear of the grindstone 31.

[0046] Furthermore, in this embodiment, a method for correcting deviations around each axis of the tool coordinate system of the tool 30 has been exemplified, but positional deviations in each axial direction of the tool 30 can also be corrected using a similar method.

[0047] Furthermore, in this embodiment, the control device 10 controls the robot 20 so as to correct the posture of the tool 30 based on the estimated deviation in 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 estimated deviation in posture of the tool 30 on the display device, allowing the worker to correct the posture of the tool 30.

[0048] 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 the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0049] The following supplementary notes are further disclosed regarding the above-described embodiments and modified examples. (Supplementary Note 1) A robot system including 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 storing a plurality of second images of processing marks when the processing is performed by switching parameters related to the relative attitude of the workpiece and the tool, the second images associated with the parameters, and the processor estimating the parameters corresponding to the processing marks in the first image by comparing the first image with the second image. (Supplementary Note 2) The robot system according to Supplementary Note 1, in which the processor adjusts the relative attitude of the workpiece and the tool based on the estimated parameters. (Supplementary Note 3) The robot system according to Supplementary Note 2, in which the processor adjusts the relative attitude of the workpiece and the tool based on the estimated parameters. (Supplementary Note 4) The robot system according to Supplementary Note 2, wherein the processor adjusts the attitude of the tool by controlling the robot based on the estimated parameters. (Supplementary Note 5) The robot system according to Supplementary Note 4, wherein 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, and the processor adjusts the angle of the tool coordinate system about the origin by controlling the robot based on the estimated parameters. (Supplementary Note 6) The robot system according to Supplementary Note 2, wherein 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, and the processor adjusts the angle of the tool coordinate system about the origin of the tool coordinate system based on the estimated parameters. (Supplementary Note 7) The robot system according to any one of Supplementary Notes 2 to 6, wherein the processor associates the first image with the parameters estimated for the first image and additionally stores them in the memory.(Supplementary Note 8) The robot system according to any one of Supplementary Notes 2 to 7, wherein the memory stores the second image and the parameters in association with the type of the tool. (Supplementary Note 9) The robot system according to any one of Supplementary Notes 2 to 8, wherein the memory stores the second image and the parameters in association with a period of use of the tool. (Supplementary Note 10) The robot system according to any one of Supplementary Notes 2 to 9, further comprising a sensor capable of detecting a force acting on the tool, and wherein the processor adjusts a contact pressure between the workpiece and the tool during the machining based on the force detected by the sensor. (Supplementary Note 11) A control device for a robot system comprising a tool that performs a predetermined machining on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of machining marks formed on the workpiece by the machining, the control device comprising at least one memory and at least one processor, the memory storing a plurality of second images of the machining marks when the machining is performed by switching parameters related to the relative attitude of the workpiece and the tool, the second images being associated with the parameters, and the processor estimating the parameters corresponding to the machining marks in the first image by comparing the first image with the second image. (Supplementary Note 12) A control method for a robot system comprising a tool that performs a predetermined machining on a workpiece, a robot that moves the tool and the workpiece relatively, and a camera that acquires a first image of the machining marks formed on the workpiece by the machining, the control method storing a plurality of second images of the machining marks when the machining is performed by switching parameters related to the relative attitude of the workpiece and the tool, the second images being associated with the parameters, and estimating the parameters corresponding to the machining marks in the first image by comparing the first image with the second image.(Supplementary Note 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 store 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 association with the parameters, and to estimate the parameters corresponding to the processing marks in the first images by comparing the first images with the second images.

[0050] REFERENCE SIGNS LIST 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 Polishing mark (machining mark) s2 Polishing mark (machining mark) W Workpiece

Claims

1. The system comprises a tool for performing predetermined processing on a workpiece, a robot for moving the tool and the workpiece relative to each other, a camera for acquiring a first image of the processing marks 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 multiple second images of machining marks obtained when the machining is performed by switching parameters relating to the relative orientation of the workpiece and the tool, associating them with the parameters. A robotic system in which the processor estimates the parameters corresponding to the processing marks in the first image by comparing the first image with the second image.

2. The robotic system according to claim 1, wherein the processor adjusts the relative posture between the workpiece and the tool based on the estimated parameters.

3. The tool is equipped with a drive mechanism that can change the orientation of the tool, The robotic system according to claim 2, wherein the processor adjusts the posture of the tool by operating the drive mechanism based on the estimated parameters.

4. The robotic system according to claim 2, wherein the processor controls the robot based on the estimated parameters to adjust the posture of the tool.

5. The tool is attached to the robot. The tool has a tool coordinate system set with the tip of the tool as the origin. The robot system according to claim 4, wherein the processor controls the robot based on the estimated parameters to adjust the angle of the tool around the origin of the tool coordinate system.

6. The tool is attached to the robot. The tool has a tool coordinate system set with the tip of the tool as the origin. The robot system according to claim 2, wherein the processor adjusts the angle of the tool coordinate system around the origin of the tool coordinate system based on the estimated parameters.

7. 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 them in the memory.

8. The robot system according to any one of claims 2 to 6, wherein the memory stores the second image and the parameters in association with the type of tool.

9. The robot system according to any one of claims 2 to 6, wherein the memory stores the second image and the parameters in association with the usage period of the tool.

10. The tool is equipped with a sensor capable of detecting the force acting upon it, The robot system according to any one of claims 2 to 6, wherein the processor adjusts the contact pressure between the workpiece and the tool during machining based on the force detected by the sensor.

11. A control device for a robot system comprising a tool for performing predetermined processing on a workpiece, a robot for moving the tool and the workpiece relative to each other, and a camera for acquiring a first image of the processing marks formed on the workpiece by the processing, It comprises at least one memory and at least one processor, The memory stores multiple second images of machining marks obtained when the machining is performed by switching parameters relating to the relative orientation of the workpiece and the tool, associating them with the parameters. A control device in which the processor estimates the parameters corresponding to the processing marks in the first image by comparing the first image and the second image.

12. A control method for a robot system comprising a tool that performs predetermined processing on a workpiece, a robot that moves the tool and the workpiece relative to each other, and a camera that acquires a first image of the processing marks formed on the workpiece by the processing, Multiple second images of machining marks obtained when the machining is performed by switching the parameters relating to the relative posture between the workpiece and the tool are stored in association with the parameters. A control method for estimating the parameters corresponding to the processing marks in the first image by comparing the first image with the second image.

13. A control program for a robot system comprising a tool that performs predetermined processing on a workpiece, a robot that moves the tool and the workpiece relative to each other, and a camera that acquires a first image of the processing marks formed on the workpiece by the processing, Multiple second images of machining marks obtained when the machining is performed by switching the parameters relating to the relative posture between the workpiece and the tool are stored in association with the parameters. A control program that causes a computer to estimate the parameters corresponding to the processing marks in the first image by comparing the first image with the second image.