| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot device capable of easily inserting one of an inside member and an outside member having an internal peripheral surface insertable into the inside member into the other, and a robot device control method.SOLUTION: A robot device includes: an articulated robot; a force sensor 22 that can detect a reaction force acting on the articulated robot; and a control device that, when a fitting/insertion operation for fitting and inserting the annular member W2 into a conical workpiece main body W1 is performed, controls an annular member W2 gripped by the articulated robot to move on a designated trajectory created on the basis of on a first coordinate system 118 set to the annular member W2, sets a second coordinate system Q along an inclination direction for moving the annular member W2 along an inclination direction of an outer peripheral surface of the workpiece main body W to a contact point of the annular member W2 when the annular member W2 contacts the workpiece main body W1 and the force sensor 22 detects the reaction force, and controls the articulated robot gripping the annular member W2 to move on the second coordinate system Q. |
