| 摘要 |
PROBLEM TO BE SOLVED: To automatically decide a favourable gripping position only by designating a range free to grip by simple input operation in case of displacing the gripping position of a work from a work center. SOLUTION: The range free to grip of the work is designated, the favourable gripping position is computed within the range, a difference between the favourable gripping position and the work center is computed, a temporary feeding target value in accordance with feeding dimensions of each of sides of the work is computed, a real feeding target value is computed by adding the difference to the temporary target value in accordance with each of the sides of the work, and the gripping position is controlled in accordance with the real target value. In this way, it is possible to automatically decide the favourable gripping position only by designating the range free to grip by the simple input operation by computing the favourable gripping position in the designated range and controlling the gripping position in accordance with the real target value provided by adding the difference of the position and the work center to the temporary target value.
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