| 摘要 |
PROBLEM TO BE SOLVED: To provide a bolt installing device by task skill which equips bolt installing task skill for equipping a robot with human skill of assembling bolts of various sizes to nuts robustly to position errors. SOLUTION: Assembling work of the bolt 12 is carried out based on task skill. As the operation procedure of task skill, the operation procedure is operated based on initial conditions, task skill operation and termination conditions which are a model of task skill. A control device 11 is equipped with hybrid control of impedance and force, or impedance control for task skill operation. COPYRIGHT: (C)2006,JPO&NCIPI
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