Robot control method and robot

摘要

A robot control method includes gripping a work with a hand unit; transferring the work to the vicinity of a plane; dropping the work to the plane by reducing the grip force of the hand unit, and aligning the work with the plane; and re-gripping the work, which is aligned with the plane, again with the hand unit.

主权项

1. A robot control method, comprising:
gripping a work with a hand unit by operating a motor; transferring the work to a vicinity of a plane by operating the motor; releasing the work to the plane by reducing a grip force of the hand unit by operating the motor so as to align the work with the plane; and re-gripping the work again with the hand unit by operating the motor, wherein the robot includes a slide sensor, which measures a slide amount of the work with respect to the hand unit, in a portion of the hand unit which comes into contact with the work, and the releasing is performed while grip force of the hand unit is adjusted such that the slide amount per unit time is less than a threshold.