| 摘要 |
PROBLEM TO BE SOLVED: To easily and safely restore a robot body when working malfunction is caused during working, and quickly resume the working of the robot body. SOLUTION: A robot arm executes positioning (S1), picking of parts (S2) and assembling of parts on a work (S3) in sequence. In this case, in accordance with a signal from a 3 sensor for detecting the position of a gripping pawl of a hand, the presence or absence of working malfunction is judged (S4). If a proximity switch is still turned off (S4; Y), checking (S5) is performed and working is finished. When working malfunction is caused by a displacement between the work and the parts and the proximity switch is turned on (S4; N), informing operation is performed (S6). When an operator moves, for example, the work and removes the malfunctioning cause (S7; Y), the working is resumed on condition that no obstacle is detected around a moving robot by an area sensor.
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