| 摘要 |
PROBLEM TO BE SOLVED: To make it possible to control movement of a fingertip effector with respect to a work object without use of an external camera.SOLUTION: A robot device has a robot arm mechanism 10 having plural joint parts. A fingertip effector 3 for performing an operation for a work object, is supported on the robot arm mechanism. The fingertip effector is provided with an imaging part 6. The fingertip effector is further provided with at least one contact sensor 7, 8, 9 so as to have sensitivity with respect to an imaging direction of the imaging part. A control apparatus 30 moves the fingertip effector in a direction substantially orthogonal to the imaging direction by use of an image picked up by the imaging part, and so controls the robot arm mechanism as to move the fingertip effector in a direction substantially parallel to the imaging direction on the basis of a position at which the fingertip effector contacts the work object due to contact output of the contact sensor.SELECTED DRAWING: Figure 8 |
