| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system, achieving a holding method which can hold down the influence of mutual internal force to the minimum while restraining the vibration of an object in moving without any unreasonable load to the object in the operation of holding the object by a plurality of robots, and disperse load weight. SOLUTION: This robot system includes: a robot body 1; a plurality of robot arms 3 fitted to the robot body 1; an object holding mechanism 4 holding the objects 2 fitted to the respective tips of the robot arms 3; and a control part 5 for controlling the plurality of robot arms 3 and the object holding mechanism 4. The control part 5 controls at least one object holding mechanism 4 holding the object 2 and at least another object holding mechanism 4 supporting the lower surface of the object 2 to convey the object 2 while keeping the holding attitudes of the robot arms 3 and the object holding mechanisms 4. COPYRIGHT: (C)2007,JPO&INPIT
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