US 12,263,604 B2
Control method for robot system and robot system
Yutaka Arakawa, Suwa-Gun Hara-mura (JP); and Tomohisa Iwazaki, Suwa-Gun Shimosuwa-machi (JP)
Assigned to SEIKO EPSON CORPORATION, Tokyo (JP)
Filed by SEIKO EPSON CORPORATION, Tokyo (JP)
Filed on Jul. 28, 2022, as Appl. No. 17/875,452.
Claims priority of application No. 2021-125103 (JP), filed on Jul. 30, 2021.
Prior Publication US 2023/0036260 A1, Feb. 2, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 13/08 (2006.01); B41J 29/38 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/0096 (2013.01); B25J 13/08 (2013.01); B41J 29/38 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A control method for a robot system including a moving stage, a tool attached to the moving stage, a robot arm holding one of the moving stage and an object, and a camera and performing predetermined work on the object using the tool, comprising:
setting the robot arm in a first attitude;
performing the work in a first region of the object while moving the tool relative to the object by the moving stage with the first attitude maintained;
setting the robot arm in a second attitude;
imaging the object using the camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained; and
performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.