| 摘要 |
PROBLEM TO BE SOLVED: To provide a target position detection apparatus for a robot capable of accurately detecting the position of a target. SOLUTION: In the robot 22, a wrist having flexibility in the horizontal direction is attached to the end of an arm 32 having flexibility in three axis directions, X-axis, Y-axis, and Z-axis. A hand 33 serving as an end effector is attached to the wrist. A control means 23 stores a teaching point in a storage part 26, and so controls the operation of the robot 22 that the hand 33 extends toward the teaching point stored in the storage part 26. The control means 23 changes a control loop gain to change the pressing force of the hand 33 against the target 46. The control loop gain of a wrist shaft is reduced more than a predetermined value starting near the teaching point where at least the target 46 is present to bring the hand 33 into contact with the target 46, and takes in the position of the hand 33 brought into contact with the target 46 for detecting the position of the target 46. COPYRIGHT: (C)2009,JPO&INPIT |
