| 摘要 |
PROBLEM TO BE SOLVED: To stably correct the displacement of a robot hand in a direction crossing a tip axis, and to quickly detect the arrival of the robot hand in a direction where the tip axis extends.SOLUTION: A force detector 203 provided between a robot arm 201 and a robot hand detects force Fx, Fy, and force Fz. During the fitting, a robot controller 300 filters the force Fx, Fy by a first lowpass filter of cutoff frequency F, moves the robot hand and corrects trajectory of the robot arm 201 so as to reduce the force Fx, Fy. In addition, the robot controller filters the force Fz by a second lowpass filter of cutoff frequency Fhigher than the cutoff frequency F, performs threshold determination for the force Fz, and when the force Fz exceeds a threshold value, the robot controller stops the movement of the robot hand.SELECTED DRAWING: Figure 2 |
