| 摘要 |
A robot comprises a robot arm including a lower arm (20), an upper arm (30) and a hand (40) attached to the tip end portion of the upper arm such that the hand is rotatable around a rotational axis (L3) thereof; a lower arm drive unit (15) which drive the lower arm to move the hand, an upper arm drive unit (25) which drives the upper arm to move the hand; a hand drive unit (35) which rotates the hand; a hand angular position detecting section (37) which detects an angular position of the hand around the rotational axis (L3); and a control unit which controls the upper arm drive unit, the lower arm drive unit, and the hand drive unit, wherein the hand includes a blade (40b) having a first contact/slide surface (50a) and a second contact/slide surface (50b) which extend in a first direction, contact a teaching target (T) and slide thereon, and the first contact/slide surface and the second contact/slide surface include a first characterizing portion (51a) and a second characterizing portion (51b) having bent points in the first direction, respectively. |
