Control devices, robot systems, control methods, and control programs

Abstract

A control device for a robot system, the robot system including a conveying device for conveying workpieces and a robot for performing a specified operation on the workpieces moved by the conveying device, the control device including at least one memory and at least one processor; the memory stores a dynamic characteristic model representing the dynamic characteristics of the conveying device; the processor obtains motion commands to drive the conveying device and calculates an estimated value of the displacement of the conveying device based on the motion commands and the dynamic characteristic model.

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