Robot system including a plurality of robots, robot controller and robot control method

A robot controller included in a robot system including a leading robot and a following robot, the robot system being configured to teach coordinated control in which the following robot is operated while following a motion of the leading robot, the robot controller comprising:

• a first correcting section configured to correct a position/orientation of the leading robot based on a first deviation of a taught position/orientation of the leading robot relative to a predetermined first position/orientation;
• and
• a second correcting section configured to correct a position/orientation of the following robot based on at least the second deviation of a taught position/orientation of the following robot relative to a predetermined second position/orientation,
• wherein the second correcting section is configured to correct the position/orientation of the following robot based on both the first deviation and the second deviation, when the coordinated control is carried out.

A control method for a robot system including a leading robot and a following robot, the robot system being configured to teach coordinated control in which the following robot is operated while following a motion of the leading robot, the control method comprising the steps of:

• detecting a first deviation of a taught position/orientation of the leading robot relative to a predetermined first position/orientation;
• correcting the position/orientation of the leading robot based on the first deviation;
• detecting a second deviation of a taught position/orientation of the following robot relative to a predetermined second position/orientation;
• and
• correcting, when the coordinated control is carried out, the position/orientation of the following robot based on both the first deviation and the second deviation.