| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot and a method of controlling the robot capable of improving working efficiency by effectively oscillating a fitting part for insertion. SOLUTION: The fitting part 6 held by one hand 4 of a double-arm 2 is made to come close to a fitted part 7, and a force sensor 3 provided in the hand holding the fitting part 6 detects that the fitting part 6 is brought in contact with the fitted part 7, and a hand 4 of the other arm 2 gives the hitting force to the fitting part 6 at a predetermined position previously stored in response to the fitting part 6 to generate oscillation. After generating the oscillation, the holding side arm 2 is moved in the inserting direction to insert the fitting part 6 to the fitted part 7. COPYRIGHT: (C)2008,JPO&INPIT
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