Robot system

A robot system, comprising:

• a robot body;
• a memory configured to store automatic operation information for causing the robot body to perform a given operation;
• an operation controlling module configured to control the operation of the robot body based on the automatic operation information;
• a master arm configured to generate corrective manipulation information based on a corrective manipulation manually performed by an operator for correcting the operation of the robot body under operation based on the automatic operation information;
• and
• a limit range setting module configured to set a limit range of the corrective manipulation via the master arm, wherein
• the operation controlling module acquires the corrective manipulation information and controls the robot body to perform a corrected operation based on the corrective manipulation information,
• the memory stores corrected operation information based on the corrected operation as next automatic operation information,
• the operation controlling module executes a given limiting processing when the corrective manipulation is performed beyond the limit range from an operational position based on the automatic operation information, wherein the operation controlling module regulates the robot body from moving outside the limit range as the given limiting processing, and
• the limit range setting module calculates a positional deviation between the operational position based on the automatic operation information before the correction and an operational position based on the corrected operation information, and, when the positional deviation is at or below a first threshold, narrows the limit range in a next corrective manipulation via the master arm.