| 摘要 |
PROBLEM TO BE SOLVED: To provide a working algorithm for realizing the assembling work for inserting shaft members having an engaging part in order into a part, in which plural plates having an engaging part in the inner peripheral part thereof are overlapped with each other on the same shaft, and capable of easily setting the exploring operation and securely exploring the engaging position and lowering a computing burden when generating the command signal. SOLUTION: Two shafts to be translated with an end effector for holding a shaft member and two shafts to be moved while tilting are moved with compliance, and the pushing force is generated in one residual axial direction of the translation motion, and the movement of the center of the compliance in the radial direction is repeated while displacing the phase till the engagement position is found. In the case where the engagement is not found within the predetermined time, the pushing force is released once, and thereafter, the ordinary exploring work is performed.
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