Robot apparatus, assembling method, and recording medium

摘要

A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.

主权项

1. A robot apparatus comprising:
a gripping unit configured to grip a first component; a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit; a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, wherein the transition information provides information for transitioning the first component and the second component from a current state to a subsequent state; a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition information stored in the storing unit; and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.