| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable proper gripping of an object even if the object cannot be gripped according to teaching data. <P>SOLUTION: If a griping part set in the teaching data cannot be gripped, another new gripping part is set and a necessary gripping force for gripping at the gripping part is calculated. If the obtained necessary gripping force is larger than an allowable gripping force of the object, the gripping force and movement acceleration set in the teaching data are changed to grip the object according to the changed teaching data. Thus, the object is neither damaged by an excessive gripping force nor dropped by an insufficient gripping force during movement of the object even if a new gripping part is set. Accordingly the object can be properly gripped and moved. <P>COPYRIGHT: (C)2013,JPO&INPIT |
