Control system and control method

A control system that is applied to an assembly apparatus including a plurality of first robots that grip a long workpiece, a transport device that moves the first robots along a longitudinal direction of the workpiece, and a second robot that performs a predetermined operation for a plurality of operation points set at intervals in the longitudinal direction of the workpiece, the control system comprising:

• teaching data including a target position and attitude of an end effector of the second robot corresponding to each operation point and control information of the second robot corresponding to each target position and attitude;
• a measurement device that measures a position and attitude of the end effector in a case in which the second robot has been operated according to the teaching data for each operation point;
• and
• a corrected teaching data creation unit that creates corrected teaching data obtained by correcting the teaching data such that the position and attitude measured by the measurement device is close to the target position and attitude of the end effector in the teaching data for each operation point,
• wherein the measurement device detects a position of a coordinate system-defining target, which is moved together with the transport device, to define a coordinate system and measures the position and attitude of the end effector in the coordinate system.

A control method that is applied to an assembly apparatus including a plurality of first robots that grip a long workpiece, a transport device that moves the first robots along a longitudinal direction of the workpiece, and a second robot that performs a predetermined operation for a plurality of operation points set at intervals in the longitudinal direction of the workpiece, the control method comprising:

• a step of measuring a position and attitude of the end effector in a case in which the second robot has been operated according to teaching data including a target position and attitude of an end effector of the second robot corresponding to each operation point and control information of the second robot corresponding to each target position and attitude;
• and
• a step of creating corrected teaching data obtained by correcting the teaching data such that the measured position and attitude is close to the target position and attitude of the end effector in the teaching data for each operation point,
• wherein, in the step of measuring the position and attitude of the end effector, a position of a coordinate system-defining target is detected each time the transport device moves, to define a coordinate system, and the position and attitude of the end effector in the coordinate system is measured.