| 摘要 |
PROBLEM TO BE SOLVED: To provide a component assembling method capable of efficiently creating various orbits such as a line, a bend and an arc in assembly by a robot and automatically coping with environmental variation and difference between machines.SOLUTION: Before a component 1 is assembled in a hole of a component 2, an orbital limiting cylinder for limiting a range of search by a force sensor 6 along an L-shaped approximating orbit is stored in a control unit of a robot hand 5. The robot finds a counterpart of assembly from an image of a stereo camera 7, searches for an assembly direction similarly to a human's groping by a detection value of the force sensor 6 in the orbit limiting cylinder, studies by oneself by storing the journey as a plurality of teaching points. In subsequent and later assembly using the precise orbit, the precise orbit is fine-adjusted if a stored value differs from a current value for the detection value of the force sensor 6 at every teaching point. |
