| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a workpiece takeout device that reduces failures of taking out a workpiece from a plurality of workpieces and also reduces a retry operation. <P>SOLUTION: A measuring characteristic determination part 52 estimates the easy-to-grip performance of a part of the workpiece measured by a sensor 2 based on information on success or a failure of past takeout in a DB1. A grip operation calculation part 53 and an opening/closing operation calculation part 54 decide not to preferentially grip a workpiece hard in gripping but adjust at least one of opening/closing amount, operation speed and gripping force of a hand to perform careful takeout operation when there is no workpiece for gripping. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
