| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an inspection device capable of correctly inspecting the success and failure of component assembling work. <P>SOLUTION: The inspection device includes: a force acquisition means for acquiring a force acted on a robot end effector; a position acquisition means for acquiring the position of the robot end effector; a segmenting means for segmenting a partial waveform of an inspection range from a waveform indicating a relationship between the acquired force and the acquired position; an inspection range specification means for specifying an inspection range to be segmented by the segmenting means; an extreme value recognition means for recognizing a plurality of extreme values of the partial waveform segmented by the segmenting means; a determination means for selecting a maximum value and a minimum value to be inspected from the plurality of recognized extreme values according to a basis of selection to determine whether a difference between the maximum value and the minimum value satisfies a criterion; an inspection parameter specification means for specifying the basis of selection and the criterion to be used by the determination means; and an inspection output means for outputting a signal indicating the success or failure of the work according to the determination result of the determination means. <P>COPYRIGHT: (C)2013,JPO&INPIT |
