| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot system for assembling that surely grips individual components with high positional accuracy. SOLUTION: The robot system for assembling comprises: a force sensor 16 detecting force applied to a pair of fingers 15; a comparative determining means 20 comparing a detection value detected by the force sensor, with a preset threshold value to determine a large/small relationship between the detection value and the threshold value; a stopping means 21 located at the head or tail of a large number of horizontally arranged components, and stopping the movement of a robot, when moving the robot 2 from a predetermined approach position toward the end of the gripped component gripped by the pair of fingers, detecting by the force sensor the force applied when the pair of fingers are pressing the end of the gripped component, and determining by the comparative determining means that the detection value of the force sensor is larger than the threshold; and a grip position computing means 22 setting a position stopped by the stop means as a reference position and computing a grip position to grip the grip component by the pair of fingers, based on the reference position. COPYRIGHT: (C)2009,JPO&INPIT
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