| 摘要 |
PROBLEM TO BE SOLVED: To fit a first fitting member to a second fitting member while keeping a posture in the normal posture. SOLUTION: A fitting device (10) for fitting the first fitting member held by a hand (4) mounted at the tip end of a robot arm (2) to the corresponding second fitting member is equipped with a detection means (3) for detecting the force generated when the first and second fitting members come into contact with each other, and a judging means (12) for judging whether a one-point contact state prevails in which these fitting members are in contact with each other at one point or a two-point contact state prevails in which these fitting members are in contact with each other at least at two points from the force detected by the detection means. In the one-point contact state, the first fitting member held in the hand is pressed on the second fitting member in the fitting direction thereby to promote the fitting operation while maintaining the holding posture of the robot arm. In the two-point contact state, the fitting operation is further promoted in the condition that the holding posture of the robot arm is changeable. COPYRIGHT: (C)2009,JPO&INPIT
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