COMPONENT PICKING METHOD, ROBOT APPARATUS, PROGRAM, AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To grip a component with high repeatability even if there is a flexure in a tray when gripping the component placed on the tray to accurately transfer or assemble the component.SOLUTION: A robot 200 comprises a robot main body 201 and a robot hand 202 mounted to the robot main body 201. A control device 300 controls the operation of the robot 200 to cause a plurality of fingers 230 of the robot hand 202 to grip a component Wplaced on a resin tray 600 on a frame 501. At this time, the control device 300 operates the robot main body 201 such that the robot hand 202 abuts against the tray 600 to press the tray 600 against the frame 501. Next, the control device 300 causes the plurality of fingers 230 to grip the component Wplaced on the tray 600 with the tray 600 pressed against the frame 501.