Correction device, correction method, and robot system

A robot system comprising:

• a robot;
• and
• a correction device configured to correct a robot operation program for controlling operation of the robot, wherein
• the correction device includes
• a measurement point generation unit configured to generate a plurality of candidate points corresponding to posture of the robot within a movable range of the robot based on robot mechanism model information representing a mechanism of the robot and end effector information concerning an end effector installed in the robot, and determine, among the generated plurality of candidate points, a candidate point at which joint torque τ of each joint of the robot in the posture corresponding to each candidate point is equal to or more than a predetermined threshold as a measurement point,
• a control unit configured to calculate a position error between a calculated position and a measured position of the end effector in the posture corresponding to the measurement point and identify mechanism error parameters so that the calculated position error is minimized,
• a position error estimation unit configured to estimate the position error of the end effector when the robot is operated according to the robot operation program based on the mechanism error parameters, and correct the robot operation program based on the estimated position error, and
• the robot control unit configured to control the robot based on the corrected robot operation program.