| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot control device capable of reliably inserting a protrusion of a first member into an opening of a second member, and further to provide a robot and a robot control method.SOLUTION: A robot control device comprises: a robot arm; a force sensor a control section controlling operation of a robot performing work supporting one of a first member having a protrusion and a second member having an opening by an end effector mounted to the robot arm and inserting the protrusion into the opening, having a relative movement direction at the time of insertion of the protrusion into the opening being a Z-axis direction, moving the end effector in an X-axis direction at the time of the work, converting force in each axis direction detected by the force sensor into displacement and controlling operation of the robot arm by force control on the basis of each displacement; and a position specification section specifying a position of the opening or the protrusion on the basis of the displacement in the X-axis direction and a Y-axis direction. Elasticity terms of the force control in the Z-axis direction is set to be greater than elasticity terms thereof in the X-axis direction and the Y-axis direction.</p> |
