| 摘要 |
PROBLEM TO BE SOLVED: To provide a power control robot having a drawing and disassembling function which can draw out a fitting part from a fitted part. SOLUTION: A fitting part 4 grasped by a robot hand 7 is moved from an approach starting position in a set approaching direction while controlling the speed and the force, and when the fitting part 4 and a fitted part 5 are contacted, and its reaction force exceeds a set threshold valve, the fitting part 4 is moved in the fitting and inserting direction at a set target speed and target force while controlling the speed and the force, and it is fitted. When a clogging is generated before the fitting is completed, the fitting part 4 is drawn from the fitted part 5 by moving the fitting part 4 in a set drawing direction, at a set target speed and drawing target force, while controlling the speed and the force, and it is drown up. Since the drawing operation can be carried out automatically by the robot, a clogging an be restored automatically depending on no human hand, even though the clogging is generated on the way of fitting. The assembly part can be also disassembled automatically. |
