| 摘要 |
<p>PROBLEM TO BE SOLVED: To make it possible to handle various soft objects with a robot in plural work processes of an assembly device and its control method.SOLUTION: An assembly device includes: a stage 4 which can adjust the posture of a workpiece W; a robot 5 provided with a holding part 6 which holds a soft object S; a normal direction calculation part 23 which calculates a first normal direction n1 of the soft object S; a posture calculation part 25 which calculates a change amount of the posture of the workpiece W needed for coinciding a second normal direction n2 of the workpiece W with the first normal direction n1; a stage control part 29 which changes the posture of the workpiece W by the change amount by controlling the stage 4; and a robot control part 30 which assembles the soft object S to the workpiece W by controlling the robot 5 after the posture of the workpiece W is changed by the change amount.</p> |
