Robot system, processing method, and recording medium

A processing method to be performed by a robot system including a robot arm configured to move a target object and a weighing scale configured to measure a physical quantity generated by the target object at a destination of the target object, the processing method comprising:

• acquiring a measurement result of the physical quantity by the weighing scale at a predetermined time interval from a start time of a period during which the robot arm is associated with a status that indicates that the robot arm is moving while grasping the target object to an end time;
• in a case where a measurement value of the physical quantity by the weighing scale is fluctuating, waiting for the fluctuation in the measurement value to subside before starting operation of the robot arm, and after waiting for the fluctuation in the measurement value to subside, acquiring the measurement result of the physical quantity;
• determining a timing at which the measurement result exceeds a predetermined threshold as the timing at which the grasped target object is released;
• and
• causing the robot arm to release the target object at the determined timing.

A non-transitory recording medium storing a program for causing a computer, which includes a robot system including a robot arm configured to move a target object and a weighing scale configured to measure a physical quantity generated by the target object at a destination of the target object, to:

• acquire a measurement result of the physical quantity by the weighing scale at a predetermined time interval from a start time of a period during which the robot arm is associated with a status that indicates that the robot arm is moving while grasping the target object to an end time;
• in a case where a measurement value of the physical quantity by the weighing scale is fluctuating, wait for the fluctuation in the measurement value to subside before starting operation of the robot arm, and after waiting for the fluctuation in the measurement value to subside, acquire the measurement result of the physical quantity;
• determine a timing at which the measurement result exceeds a predetermined threshold as the timing at which the grasped target object is released;
• and
• cause the robot arm to release the target object at the determined timing.