| 摘要 |
PCT No. PCT/JP96/00566 Sec. 371 Date Feb. 11, 1998 Sec. 102(e) Date Feb. 11, 1998 PCT Filed Mar. 8, 1996 PCT Pub. No. WO96/30169 PCT Pub. Date Oct. 3, 1996A method of handling a robot, comprising a work search step of allowing an arm to approach a stack base at high speed and then at low speed until a work is detected; a step of stopping the arm when the work is detected, storing the position of the work as the work height, and gripping the work; a step of allowing the arm at high speed to approach a deceleration starting position defined by adding a predetermined value to the stored work height when the arm again approaches the stack base, allowing the arm to approach the work to the stored work height at low speed, detecting the work, and allowing the arm to grip the work; and a step of correcting value of the work height when the work is not detected and again allowing the arm to approach the work at low speed. Since the range in which the arm moves at low speed is reduced, the cycle time is shortened.
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