| 摘要 |
High precision work is performed on a work target (workpiece) during conveyance, irrespective of the oscillations accompanying conveyance. A work method includes steps of: predicting a predicted oscillation pattern occurring in a workpiece (W) afterwards from the measurement results of oscillation occurring in the workpiece (W) during conveyance by way of a workpiece conveyance device (2); controlling a robot (131) so as to operate at an oscillation according to the predicted oscillation pattern thus predicted; detecting oscillation occurring in the robot (131) during the step of controlling; and comparing the oscillation occurring in the robot (131) with the predicted oscillation pattern, and in the case of differing, adjusting so that the oscillation of the robot (131) matches the predicted oscillation pattern, in which each of these steps is completed before the robot (131) performs work on the workpiece (W). |
