Robot system

A robot system comprising:

• a robot mechanism section including a changeable mechanical unit;
• a robot control section for controlling respective axes of said robot mechanism section;
• and
• a memory provided at said mechanical unit and storing information concerning parameters inherent to individuality of said mechanical unit to be used in calculation for a locus control of the robot mechanism section by said robot control section, said memory being connected with said robot control section so that the stored information is read by said robot control section.

A robot system, comprising:

• a changeable robot mechanism section having a wrist unit detachable from a main unit, the wrist unit having at least one memory storing information concerning parameters inherent to individuality of the wrist unit, the main unit having at least one memory storing information concerning parameters inherent to individuality of the main unit;
• and
• a robot control section for controlling the robot mechanism section connected to the robot mechanism section;
• wherein the robot control section reads the stored information from the main unit and the stored information from the wrist unit to calculate a locus control of the robot mechanism section.

A method for calculating a locus of a robot having a changeable robot mechanism section in communication with a robot control section, comprising:

• reading information concerning parameters inherent to individuality of the robot mechanism section stored in memories at the robot mechanism section;
• comparing the stored information with corresponding data stored in a memory of the robot control section to determine whether a kind of robot is changed and to determine whether at least one of the mechanical units of the robot mechanism section has changed;
• rewriting data indicating the kind of robot in the memory of the robot control section, if it is determined that the kind of robot has changed, and rewriting data indicating the changed mechanical unit, if it is determined that one of the mechanical units has changed;
• and
• computing the locus of the robot using the parameters inherent to individuality of the robot mechanism section.