| 摘要 |
PROBLEM TO BE SOLVED: To improve accuracy of engagement with a door knob in door opening/closing operation.SOLUTION: A door opening/closing robot 1 comprises a general-purpose moving body 2, an arm portion 3, an engagement portion 4, a position information memorizing portion 21, a distance calculating portion 22, a load measuring portion 23, a locus memorizing portion 24, a control portion 25 and a learning memorizing portion 26. The locus memorizing portion 24 memorizes loci of a first mark 210 and a second mark 211 at the time of opening a door together with various control conditions for reproducing the loci. The learning memorizing portion 26, when a load is less than a threshold at the time of reproducing the memorized loci, memorizes the loci as a successful pattern.SELECTED DRAWING: Figure 2 |
