Robot motion program generating apparatus

[0044]With reference to the drawings, an embodiment of the present disclosure will be described. The following description embodies a robot system that assembles a machine or the like in machine assembly factories.

[0045]FIG. 1A is a perspective view illustrating a robot system 10. As shown in FIG. 1A, the robot system 10 includes a robot 20 and a controller 30. FIG. 1B is a block diagram illustrating the controller 30.

[0046]The robot 20 is a vertical articulated robot and includes a plurality of links (driven parts) and a base 22. The plurality of links include, sequentially from the base 22 side, a link 21A, a link 21B, a link 21C and a link (hand) 21D. The link 21A is connected to the link 21B through a joint 23A. The link 21B is connected to the link 21C through a joint 23B. The link 21C is connected to the hand 21D through a joint 23C. The link 21C is made up of two parts that rotate relative to each other.

[0047]The joints 23A, 23B and 23C are respectively provided with servomotors