JP2020069579A - Robot system - Google Patents

Abstract

To provide a robot system that can easily perform re-teaching operation.SOLUTION: The robot system comprises a robot having a movable part provided with a force detection part that detects force and a control device that controls the robot. The robot has at the movable part a first operation part that performs operation of selecting a specific teaching point from a plurality of teaching points taught in advance in a movable range of the movable part. The control device has a display control part that displays on a display part the specific teaching point selected by the first operation part, and a robot control part that re-teaches the specific teaching point selected by the first operation part after moving the movable part by direct teach based on the detected force by the force detecting part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot system.

  2. Description of the Related Art In recent years, there is an assembly factory that uses a single-arm vertical articulated robot to perform, for example, an assembly work for assembling parts. For example, in Patent Document 1, before a vertical articulated robot performs an assembly operation, an operator holds and moves the vertical articulated robot by hand to teach a teaching point such as a work position to the vertical articulated robot. It is disclosed that direct teaching is performed.

  Further, there is a case where the position of the teaching point is changed and the changed teaching point is desired to be re-taught to the vertical articulated robot. In this case, for example, while selecting the teaching point of the virtual space displayed on the monitor of the personal computer, the operator holds the vertical articulated robot by hand and moves it again. The operation of teaching this state is generally performed via an input unit such as a keyboard included in the personal computer.

JP, 11-231925, A

  However, such re-teaching requires a worker to go back and forth between the robot and the personal computer, which is troublesome.

  The present invention has been made to solve the above problems, and can be realized as the following.

  A robot system according to the present invention includes a robot having a movable part provided with a force detection part for detecting force, and a control device for controlling the robot, wherein the robot is provided within a movable range of the movable part in advance. The movable unit has a first operation unit for performing an operation of selecting a specific teaching point from a plurality of taught points taught, and the control device includes the specific teaching selected by the first operation unit. A display control unit that displays points on the display unit, and the specific teaching point selected by the first operation unit after moving the movable unit by direct teaching based on the force detected by the force detection unit. And a robot control unit for re-teaching.

FIG. 1 is a diagram showing an overall configuration of a robot system according to an embodiment. FIG. 2 is a diagram showing an example of an operating state of a robot included in the robot system shown in FIG. FIG. 3 is a diagram showing an example of an operating state of a robot included in the robot system shown in FIG. FIG. 4 is a diagram illustrating an example of a display state of teaching points displayed on the display unit. FIG. 5 is a diagram showing an example of a display state of teaching points displayed on the display unit. FIG. 6 is a diagram illustrating an example of the first operation unit and the second operation unit. FIG. 7 is a block diagram for explaining the robot system of the embodiment focusing on hardware. FIG. 8 is a block diagram showing a modified example 1 centering on the hardware of the robot system. FIG. 9 is a block diagram showing a second modification centering on the hardware of the robot system.

  Hereinafter, a robot system of the present invention will be described in detail based on a preferred embodiment shown in the accompanying drawings. In the following, for convenience of description, the upper side in FIGS. 1 to 6 may be referred to as “upper” or “upper” and the lower side may be referred to as “lower” or “lower”.

  As shown in FIG. 1, the robot system 100 includes a robot 1 and a control device 200 that controls the robot 1. In the present embodiment, the robot 1 is a single-arm 6-axis vertical multi-joint robot, and an end effector can be attached to its tip. The control device 200 is arranged apart from the robot 1, and can be configured by a computer or the like having a built-in CPU (Central Processing Unit) which is an example of a processor. The use of the robot system 100 is not particularly limited, and it can be used, for example, in each work such as holding, carrying, assembling, and inspecting a work such as an electronic component or an electronic device.

The robot 1 has a base 11 and a movable part 10.
The base 11 is a support body that movably supports the movable portion 10 from below, and is fixed to, for example, a floor in a factory. The base 11 of the robot 1 is electrically connected to the control device 200 via a cable 18. The connection between the robot 1 and the control device 200 is not limited to the wired connection as in the configuration shown in FIG. 1, and may be a wireless connection, for example.

  The movable portion 10 has a plurality of arms 101 that are rotatably connected to each other. In the present embodiment, the movable portion 10 has a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16 and a sixth arm 17, and The arms 101 are connected in this order from the base 11 side. The number of arms 101 included in the movable unit 10 is not limited to six, and may be one, two, three, four, five, or seven or more, for example. Further, the size such as the total length of each arm 101 is not particularly limited and can be set as appropriate.

  The base 11 and the first arm 12 are connected via a joint 171. The first arm 12 is rotatable about the first rotation axis with respect to the base 11 with a first rotation axis parallel to the vertical direction as a rotation center. The first rotation axis coincides with the normal line of the floor to which the base 11 is fixed.

  The first arm 12 and the second arm 13 are connected via a joint 172. The second arm 13 is rotatable with respect to the first arm 12 about a second rotation shaft that is parallel to the horizontal direction. The second rotation axis is parallel to the axis orthogonal to the first rotation axis.

  The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable with respect to the second arm 13 about a third rotation axis that is parallel to the horizontal direction. The third rotation axis is parallel to the second rotation axis.

  The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 is rotatable with respect to the third arm 14 about a fourth rotation axis that is parallel to the central axis direction of the third arm 14. The fourth rotation axis is orthogonal to the third rotation axis.

  The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable with respect to the fourth arm 15 about the fifth rotation axis. The fifth rotation axis is orthogonal to the fourth rotation axis.

  The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable with respect to the fifth arm 16 about the sixth rotation shaft. The sixth rotation axis is orthogonal to the fifth rotation axis.

  Further, in the robot 1, a force detection unit 19 that detects force is detachably installed on the movable unit 10. The movable unit 10 can be driven with the force detection unit 19 installed.

  In the present embodiment, the force detection unit 19 is installed at the tip of the sixth arm 17. Further, an end effector can be removably attached to the force detector 19. In this case, the movable unit 10 may be configured to include, in addition to the arm 101, a force detection unit 19, an end effector, and a handle that is gripped by the operator OP when performing direct teaching, for example. it can.

  The installation location of the force detection unit 19 is not limited to the sixth arm 17, that is, the arm 101 located closest to the distal end side, and may be, for example, another arm 101 or between adjacent arms 101. Good.

  The force detection unit 19 detects the force transmitted through the end effector when the robot 1 is working, the force transmitted by being directly gripped by the operator OP who sets various operating conditions for the robot 1, and the like. You can The force detection unit 19 is not particularly limited, but in the present embodiment, a force component in each of the X-axis, Y-axis, and Z-axis directions orthogonal to each other, a force component in the W direction around the X-axis, and Y A 6-axis force sensor that can detect a force component in the V direction around the axis and a force component in the U direction around the Z axis is used. The force component in each axial direction may be referred to as a “translational force component”, and the force component around each axis may be referred to as a “torque component”. The force detection unit 19 is not limited to the 6-axis force sensor and may have another configuration.

  The robot system 100 is used together with, for example, a notebook type or tablet type personal computer (hereinafter referred to as “PC”) 300. The PC 300 has a built-in display as a display unit 301 that displays various information. The PC 300 is electrically connected to the control device 200. The connection between the PC 300 and the control device 200 is preferably wireless, but may be wired or may be connected via a network such as the Internet.

As described above, the robot system 100 is used, for example, in each work such as holding, carrying, assembling, and inspecting a work such as an electronic component or an electronic device. In addition, each work is performed within a movable range A ₁₀ in which the movable portion 10 of the robot 1 can move to the maximum. An example of the movable state of the movable portion 10 at this time will be described with reference to FIG.

  In FIG. 2, a predetermined first work is performed on the first workbench 401, and a predetermined second work is performed on the second workbench 402 horizontally separated from the first workbench 401. Done. The first work and the second work may have the same work content or different work content.

  In the movable unit 10, of the first arm 12 to the sixth arm 17, for example, the sixth arm 17 passes the teaching point P1, the teaching point P2, the teaching point P3, the teaching point P4, and the teaching point P5. Then, the first work and the second work are performed while passing through the teaching point P1 to the teaching point P5. Note that the number of teaching points set is five in the present embodiment, but is not limited to this, and may be two, three, four, or six or more, for example.

  The teaching points P1 to P5 are previously taught to the robot 1 by performing direct teaching. The “direct teach” means that the operator OP holds the sixth arm 17, for example, while the force is being detected by the force detecting unit 19, and the entire movable unit 10 is based on the force detected by the force detecting unit 19 as it is. Is a method of causing the robot 1 to store the movement.

  As for the order of passage of the teaching points P1 to P5, first, the robot moves from the standby position, that is, the teaching point P1 which is the home position, in the direction of the arrow α1 to the teaching point P2. Next, the teaching point P2 advances in the direction of the arrow α2 to the teaching point P3, and then the teaching point P3 is reversed, and the teaching point P3 advances in the direction of the arrow α3 opposite to the arrow α2 to reach the teaching point P2. Next, the teaching point P2 is advanced in the direction of the arrow α4 to reach the teaching point P4. Next, the teaching point P4 advances in the direction of the arrow α5 to the teaching point P5, and then the teaching point P5 is reversed, and the teaching point P5 advances in the direction of the arrow α6 opposite to the arrow α5 to reach the teaching point P4. Next, the teaching point P4 is advanced in the direction of the arrow α7 to return to the teaching point P1.

  Then, the first work is performed on the first work table 401 with the sixth arm 17 positioned at the teaching point P3, and the second work table 402 with the sixth arm 17 positioned at the teaching point P5. The second work above will be done.

  However, as shown in FIG. 2, when the sixth arm 17 is located at the teaching point P3, the sixth arm 17 is displaced from the top of the first workbench 401. In this case, the first work on the first work bench 401 may be difficult.

  Therefore, as shown in FIG. 3, the teaching point P3 is changed to the teaching point P3 'on the first work table 401, and accordingly, the teaching point P2 is changed to the teaching point P2' on the teaching point P3 '. Hereinafter, this operation is referred to as "re-teaching". This re-teaching enables the first work on the first work table 401 with the sixth arm 17 positioned at the teaching point P3 '.

  Note that in “re-teaching the teaching point”, only the position of the teaching point may be re-taught, only the posture of the arm 101 at the teaching point may be re-taught, or both the position and the posture may be re-trained. It includes what may be taught. Further, the point to be re-teached may be the same as the teaching point taught in advance.

  The re-teaching will be described below. Here, as an example, a case will be described in which the target point to be re-teached is point P3, and this point P3 is changed to point P3 'by re-teaching and overwritten.

  As shown in FIG. 1, the robot 1 has a teaching operation section 2 in which a teaching operation is performed by an operator OP. By operating the teaching operation unit 2, it is possible to perform not only re-teaching but also normal teaching before the re-teaching. As shown in FIG. 6, the teaching operation part 2 includes a first operation part 21 and a second operation part 22. The first operating portion 21 and the second operating portion 22 are provided so as to be exposed on the side surface of the fourth arm 15.

  The first operation unit 21 is a selection operation button for performing an operation of selecting a re-teaching target point that is a specific teaching point (hereinafter referred to as “specific teaching point”) Q from the teaching points P1 to P5. As described above, the specific teaching point Q is, for example, the point P3. The first operation unit 21 has a first button 23 that moves the cursor 33 upward on the display unit 301 of the PC 300 and a second button 24 that moves the cursor 33 downward on the display unit 301 of the PC 300. It is spaced apart. The first button 23 is provided with a “+” symbol 231 indicating the upward movement of the cursor 33. The second button 24 is provided with a “-” symbol 241 indicating the downward movement of the cursor 33.

  The second operation unit 22 is an overwrite operation button for performing an operation of overwriting the position information of the point P3 on the position information of the point P3 'changed by the re-teaching. The second operation unit 22 is arranged between the first button 23 and the second button 24. The “position information” includes the X coordinate, the Y coordinate, and the Z coordinate, and the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction.

  Further, as shown in FIGS. 4 and 5, when the re-teaching is performed, the re-teaching operation screen 3 is displayed on the display unit 301 of the PC 300. The re-teaching operation screen 3 includes a virtual screen 31 and a front screen 32.

  The virtual screen 31 is an image screen of a virtual space imitating the actual space in which the robot 1 is installed, and visualizes and displays the teaching points P1 to P5.

  The table screen 32 displays the position information of the teaching points P1 to P5 in a table format. In the first line 321, the characters indicating the position information, that is, the X coordinate, the Y coordinate, the Z coordinate, the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction are shown in order from the left side in the drawing. The characters are displayed. In the second row 322, the name of the teaching point P1, the X coordinate, the Y coordinate, the Z coordinate, the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction are displayed in order from the left side in the drawing. There is. In the third row 323, the name of the teaching point P2, the X coordinate, the Y coordinate, the Z coordinate, the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction are displayed in order from the left side in the drawing. There is. In the fourth row 324, the name of the teaching point P3, the X coordinate, the Y coordinate, the Z coordinate, the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction are displayed in order from the left side in the drawing. There is. The fifth line 325 displays the name of the teaching point P4, the X coordinate, the Y coordinate, the Z coordinate, the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction in order from the left side in the drawing. There is. In the sixth row 326, the name of the teaching point P5, the X coordinate, the Y coordinate, the Z coordinate, the rotation angle in the U direction, the rotation angle in the V direction, and the rotation angle in the W direction are displayed in order from the left side in the drawing. There is.

  In the robot system 100, the re-teaching operation screen 3 is displayed on the display unit 301 by the display control unit 201 that controls the display unit 301. The display control unit 201 is built in the control device 200, and, for example, a CPU has a function of the display control unit 201.

  Further, in the control device 200, the position information of the point P3 is rewritten to the position information of the point P3 'based on the operation signal from the second operation unit 22. This rewriting is performed by the robot control unit 202. The robot control unit 202 is built in the control device 200, and, for example, a CPU functions as the robot control unit 202.

  When performing re-teaching, first, as shown in FIG. 1, the operator OP places the PC 300 in the vicinity of the robot 1 for re-teaching. The PC 300 is preferably arranged at a position where the operator OP can easily visually recognize the display unit 301. Further, as shown in FIG. 4, a virtual screen 31 and a front screen 32 are vertically displayed on the display unit 301.

  Next, the operator OP presses the first operation unit 21, that is, the first button 23 or the second button 24 while visually recognizing the display unit 301, and moves the cursor 33. This operation is performed until the cursor 33 overlaps with the fourth row 324 of the front screen 32, as shown in FIG. The fourth row 324 describes the position information of the point P3 that is the specific teaching point Q. Then, when the cursor 33 overlaps with the fourth row 324, the pressing operation of the first operation unit 21 is stopped. As a result, the point P3 is selected as the specific teaching point Q. The specific teaching point Q selected by the first operation unit 21 is displayed on the display unit 301 by the display control unit 201. In addition, the cursor 33 can be moved by one line each time the first operation unit 21 is pressed once.

  In the virtual screen 31, the display mode of the teaching points P1 to P5 changes as the cursor 33 moves. For example, as shown in FIG. 5, when the cursor 33 overlaps the fourth row 324, the point P3 changes color from black to white, that is, is inverted and emphasized. The color for emphasis is not limited to an achromatic color such as white and may be a chromatic color such as yellow. Further, it may be switching between lighting and blinking, change in brightness, change in shape and size of displayed dots, and the like.

  In this way, the display control unit 201 can change the display mode of the specific teaching point Q on the display unit 301 when the specific teaching point Q is selected. As a result, the operator OP can accurately grasp which of the teaching points P1 to P5 is the specific teaching point Q.

  Next, the operator OP grips, for example, the sixth arm 17 out of the first arm 12 to the sixth arm 17, and moves the entire movable unit 10 by direct teaching based on the force detected by the force detection unit 19. , The sixth arm 17 is moved to the position to be changed, that is, the point P3 ′. After that, the operator OP releases the hand from the sixth arm 17. As a result, the movable portion 10 stops with the sixth arm 17 positioned at the point P3 '.

  Next, the operator OP presses the second operation unit 22. As a result, in the robot controller 202, the position information of the point P3 is corrected to the position information of the point P3 ', and the position of the specific teaching point Q is taught again. Further, on the table screen 32, the numerical value of the fourth row 324 is changed.

  As described above, the robot 1 has the second operation unit 22 provided on the movable unit 10 and performing an operation of re-teaching the position of the specific teaching point Q. As a result, the operator OP can correct the position information at any timing.

  As described above, the movable portion 10 has the plurality of arms 101. The first operating unit 21 and the second operating unit 22 are provided centrally on one arm 101 of the plurality of arms 101, particularly the fourth arm 15 in the present embodiment. As a result, the operator OP can operate the second operation unit 22 while standing in the position where the first operation unit 21 was operated, and accordingly, the operation from the first operation unit 21 to the second operation unit 22 can be performed. The operation can be performed quickly.

  In addition, although the 1st operation part 21 and the 2nd operation part 22 are integrated in the 4th arm 15 in this embodiment, it is not limited to this, For example, the 1st arm 12, the 2nd arm 13, and the 3rd. It may be integrated in any one arm 101 of the arm 14, the fifth arm 16, and the sixth arm 17.

  By such re-teaching, the robot 1 is in a state in which the sixth arm 17 is located at the teaching point P3 ′ when performing the first work, and thus the first work on the first work table 401 is possible. ..

  In the robot system 100, also when changing the position information of the points P1, P2, 4 and P5, the same operation as changing the position information of the point P3 can be performed.

  As described above, the robot system 100 includes the robot 1 having the movable unit 10 provided with the force detection unit 19 that detects a force, and the control device 200 that controls the robot 1.

The robot 1 is pre-instructed within the movable range A ₁₀ of the movable portion 10, and is selected from a plurality of, for example, five teaching points P1 to P5 which the movable portion 10 can pass through when the movable portion 10 is driven. The movable unit 10 has a first operation unit 21 for performing an operation of selecting the specific teaching point Q.

  The control device 200 displays the specific teaching point Q selected by the first operation unit 21 on the display unit 301, and the movable unit 10 by direct teaching based on the force detected by the force detection unit 19. The robot control unit 202 re-teaches the specific teaching point Q selected by the first operation unit 21 after the movement.

  According to such an invention, as described above, at the time of re-teaching, the operator OP visually recognizes the display unit 301 of the PC 300 on which the re-teaching operation screen 3 is displayed with the PC 300 placed in the vicinity of the robot 1. Meanwhile, the first operation unit 21 can be operated. Thereby, when re-teaching is performed, for example, the operator OP can save the trouble of going back and forth between the robot 1 and the PC 300, and thus the re-teaching operation can be easily performed.

  Further, since the specific teaching point Q is emphasized and displayed on the display unit 301, the operator OP can surely grasp which of the teaching points P1 to P5 should be the specific teaching point Q. Therefore, it is possible to prevent erroneous operation of re-teaching.

  Further, the re-teaching operation can be performed accurately and quickly regardless of the skill level of the operator OP.

  In addition, when the specific teaching point Q is selected by the first operation unit 21, the robot control unit 202 automatically moves the movable unit 10 to the specific teaching point Q before moving the movable unit 10 by the direct teaching described above. It is also possible to do so. Accordingly, after the movable part 10 is automatically driven to the specific teaching point Q, the operator OP can perform direct teaching to finely adjust the position of the sixth arm 17.

  Further, the teaching operation section 2 may have a configuration in which the second operation section 22 is omitted. In this case, it is preferable that the position information of the point P3 is corrected to the position information of the point P3 'and a position of the specific teaching point Q is re-instructed after a predetermined time has elapsed since the first operation unit 21 was operated. The predetermined time here is not particularly limited, and is preferably 1 second or more and 5 seconds or less, and more preferably 2 seconds or more and 3 seconds or less.

  Further, the teaching operation unit 2 is not limited to being configured by a push-type button, but may be configured by a dial type, a voice recognition type, or the like, for example.

  Further, the re-teaching operation screen 3 may have a configuration in which one of the virtual screen 31 and the front screen 32 is omitted.

The display unit 301 is not limited to the one built in the notebook PC 300, and may be, for example, one built in the desktop PC 300 or one built in the tablet PC 300.
Further, the display unit 301 may have a touch panel function.

  FIG. 7 is a block diagram for explaining the robot system of the embodiment focusing on hardware.

  FIG. 7 shows the overall configuration of a robot system 100A in which the robot 1, the controller 61, and the computer 62 are connected. The control of the robot 1 may be executed by reading a command in the memory by a processor in the controller 61, or may be executed via the controller 61 by reading a command in the memory by a processor in the computer 62. ..

  Therefore, one or both of the controller 61 and the computer 62 can be regarded as the “control device 200”.

<Modification 1>
FIG. 8 is a block diagram showing a modified example 1 centering on the hardware of the robot system.

FIG. 8 shows the entire configuration of a robot system 100B in which the computer 63 is directly connected to the robot 1. The control of the robot 1 is directly executed by reading a command in the memory by a processor existing in the computer 63.
Therefore, the computer 63 can be regarded as the “control device 200”.

<Modification 2>
FIG. 9 is a block diagram showing a second modification centering on the hardware of the robot system.

  FIG. 9 shows the entire configuration of a robot system 100C in which the robot 1 having the controller 61 built therein is connected to a computer 66, and the computer 66 is connected to the cloud 64 via a network 65 such as a LAN. The control of the robot 1 may be executed by reading a command in the memory by a processor existing in the computer 66, or may be executed by reading a command in the memory via a computer 66 by a processor existing on the cloud 64. Good.

  Therefore, any one, or any two, or three of the controller 61, the computer 66, and the cloud 64 can be regarded as the “control device 200”.

  Although the robot system of the present invention has been described above with reference to the illustrated embodiment, the present invention is not limited to this, and each unit constituting the robot system has an arbitrary configuration capable of exhibiting the same function. Can be replaced with In addition, any constituent may be added.

  Further, although the robot has one movable part, it is not limited to this and may have two or more movable parts.

DESCRIPTION OF SYMBOLS 1 ... Robot, 2 ... Teaching operation part, 21 ... 1st operation part, 22 ... 2nd operation part, 23 ... 1st button, 231 ... Symbol, 24 ... 2nd button, 241 ... Symbol, 3 ... Re-teaching operation screen , 31 ... Virtual screen, 32 ... Table screen, 321 ... First line, 322 ... Second line, 323 ... Third line, 324 ... Fourth line, 325 ... Fifth line, 326 ... Sixth line, 33 ... Cursor , 61 ... Controller, 62 ... Computer, 63 ... Computer, 64 ... Cloud, 65 ... Network, 66 ... Computer, 10 ... Movable part, 101 ... Arm, 11 ... Base, 12 ... First arm, 13 ... Second arm , 14 ... Third arm, 15 ... Fourth arm, 16 ... Fifth arm, 17 ... Sixth arm, 171 ... Joint, 172 ... Joint, 173 ... Joint, 174 ... Joint, 175 ... Joint, 176 ... Joint, 18 …cable, 9 ... Force detection unit, 100 ... Robot system, 100A ... Robot system, 100B ... Robot system, 100C ... Robot system, 200 ... Control device, 201 ... Display control unit, 202 ... Robot control unit, 300 ... Personal computer (PC) , 301 ... display unit, 401 ... first workbench, 402 ... second workbench, A _{10 ...} movable range, OP ... operator, P1 ... teaching point, P2 ... teaching point, P2 '... teaching point, P3 ... teaching point , P3 '... Teaching point, P4 ... Teaching point, P5 ... Teaching point, Q ... Teaching point (specific teaching point), α1 ... Arrow, α2 ... Arrow, α3 ... Arrow, α4 ... Arrow, α5 ... Arrow, α6 ... Arrow , Α7 ... Arrow

Claims (5)

A robot having a movable part provided with a force detection part for detecting force,
A control device for controlling the robot,
The robot has, in the movable part, a first operation part for performing an operation of selecting a specific teaching point from a plurality of teaching points taught in advance within a movable range of the movable part,
The control device includes a display control unit that displays the specific teaching point selected by the first operation unit on a display unit;
A robot controller that re-teaches the specific teaching point selected by the first operation unit after moving the movable unit by direct teaching based on the force detected by the force detection unit. Robot system characterized by.   The robot system according to claim 1, wherein the robot includes a second operation unit which is provided on the movable unit and performs an operation of re-teaching the specific teaching point. The movable part has a plurality of arms,
The robot system according to claim 2, wherein the first operation unit and the second operation unit are provided on one arm of the plurality of arms.   The robot system according to claim 1, wherein the display control unit changes a display mode of the specific teaching point on the display unit when the specific teaching point is selected.   The robot control unit moves the movable unit to the specific teaching point before moving the movable unit by the direct teach when the specific teaching point is selected by the first operation unit. 5. The robot system according to any one of items 1 to 4.

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