| 摘要 |
PROBLEM TO BE SOLVED: To provide a device and method for controlling positional displacement of a hand mechanism for ointment that allows a microtube to be inserted efficiently into a rack for storage, and where unreasonable force is prevented from being applied to the rack for storage or a microtube, when the microtube is inserted. SOLUTION: This controlling method comprises a first process of moving a predetermined microtube by a predetermined distanceαin a state where the microtube is butted on the rack for storage when the bottom of the microtube comes into contact with a lattice-like partition and cannot be inserted, when the microtube is intended to be inserted into a predetermined position of the rack for storage, and a second process of turning the predetermined microtube about the initial position O of the microtube before movement at a radius of the distanceαwhen the microtube cannot be inserted, even after movement by the predetermined distanceαand increasing the predetermined distanceαby a predetermined amountΔα, when the microtube cannot be inserted, even after one complete lap. Until an insertion position is found or the predetermined distanceαreaches a predetermined maximum value, the second process is repeated. COPYRIGHT: (C)2009,JPO&INPIT
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