| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve a yield when a robot automatically performs such an assembly operation as fitting an annular component to a shaft. <P>SOLUTION: A robot system includes: the robot for gripping and rotating the shaft whose periphery is mounted with an engagement member engaging with an inner periphery of the annular component; a jig for fixing the annular component; a control unit that controls the robot to grip the shaft to which the annular component is fitted, and then controls the robot to impart a turning force to the shaft while bringing the annular component into contact with the jig; and a determination unit for determining whether the engagement member is mounted to the shaft based on the motion of the robot when imparting the turning force. <P>COPYRIGHT: (C)2013,JPO&INPIT |
