| CPC B25J 9/1697 (2013.01) | 3 Claims |
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1. A robot system, comprising:
a robot that performs work on a workpiece;
a camera that captures an image of the workpiece while the workpiece is being moved relative to the camera; and
a controller that controls the camera and the robot, wherein
the controller and the camera have clocks whose zero points are the same or shifted from each other by a known amount,
the controller is configured to obtain position information of the robot corresponding to an image-capturing instruction when a waiting time elapses from a sending time that the image-capturing instruction is sent to the camera,
the controller is configured to conduct transmission of, to the camera, the image-capturing instruction including a required time obtained by subtracting, from the waiting time, a transfer time which is necessary time for transfer of the image-capturing instruction from the controller to the camera, or the controller is configured to conduct transmission of, to the camera, the image-capturing instruction including the waiting time obtained by adding the transfer time to the required time,
the camera is configured to conduct image capturing of an image of the workpiece at time when the required time elapses from time that the camera receives the image-capturing instructions, and transmits, to the controller, image data obtained by the image capturing, and
the controller is configured to control the robot based on the position information and the image data transmitted from the camera.
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