| 摘要 |
<p>A robot control unit (40) related to the present invention is configured to turn off a holding unit (60) for a plate member (50), while the plate member (50) is placed on an end effector (25), and lower the end effector (25), by a predetermined distance, from an initial position higher than a preset temporary placing position toward the temporary placing position. Then the robot control unit (40) switches the holding member (60), from an OFF state to an ON state, while the end effector (25) is stopped, and determines whether or not the plate member (50) is held by the holding unit (60), by using a holding-state detection unit (63). When the plate member (50) is determined to be held by the holding unit (60), the robot control unit (40) will turn off the holding unit (60) while further lowering the end effector (25) by the predetermined distance. Meanwhile, when the plate member (50) is determined not to be held by the holding unit (60), the robot control unit (40) will detect a position of the end effector (25) at this point of time, as a normal placing position.</p> |
