METHOD AND SYSTEM FOR CONTROLLING ROBOT

摘要

A robot (30) which holds a workpiece (W) to be loaded with a chuck (CH) moves on a programmed path from a TCP to a point Q in response to a command. When a force sensor (41) detects the contact between the distal end face of the workpiece (W) and a workpiece fixing surface (H), a loop gain of a servo control system is changed into a lower value. In consequence, the attitude of the workpiece (W) is corrected by means of a reaction force received from the workpiece fixing surface (H) and reaction forces from chucking members (CH1 to CH4), whereupon chucking is completed. <IMAGE> <IMAGE>