A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.

A method for corrective action on the operation of a line for the production of absorbent sanitary articles, comprises capturing at least one image of each article being fed out of the line; using the image to define first parameters indicating the positioning and/or assembly and/or shape of at least one respective component; detecting a production defect if at least one of the first parameters is outside a respective acceptability range; identifying second, line operating parameters which are used to indicate if the first parameter is outside the respective acceptability range; comparing the line operating parameters with respective third, reference parameters indicating optimum line operation; using the comparison to derive a map of abnormal operating parameters; checking if each combination of abnormal operating parameters indicates a respective cause of malfunction of the line; defining a respective corrective action.

A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.

A control device according to an aspect of the present invention comprises: a progress information output unit that determines the progress of work on the basis of sensor data, obtained from at least one among a work device and the work environment of the work device, and sensor data during normal progress of the work device, and outputs progress information indicating the progress of work; a management unit that generates an operation command of the work device on the basis of the progress information, and outputs the operation command; and a control unit that generates a driving signal for driving the work device on the basis of the operation command and the sensor data, and outputs said driving signal to the work device.