| 摘要 |
Provided are a power assist apparatus and its control method, which realize improvements in positioning precision and in workability while reducing the burden of a work positioning operation on a worker by burdening a portion of the positioning work on the power assist apparatus and while making good use of the decision or experience (or institution or knack) by the worker when the worker positions the work by using the power assist apparatus. The power assist apparatus (1) thus autonomously cooperating with the working action of the worker comprises a transfer tool including an articulated robot (2), a sucking jig (3) and a free joint (4) for gripping and transferring windows (10 and 20), and a control device (2a) for controlling the actions of the transfer tool. The control device (2a) divides and stores a series of working tasks into a plurality of working section, and sets control logics for the individual working sections and for the individual working directions, in which the power assist apparatus (1) has degrees of freedom. |
