| 摘要 |
<p>A force control robot system with visual sensor which can automatically perform highly reliable inserting work. A force sensor (3) attached to a finger section (2) of a robot (1) detects forces in six shaft orientations for force control and sends the forces to a robot controller (5). A structure light unit SU and a three-dimensional visual sensor which is provided in the controller (5) and composed of a picture processing section detect the position and attitude of a projecting section (71) of an inserting work (7) clamped by a clamping claw (41) of a robot hand (4) and the position and attitude of a recessed section (81) of an inserted work (8) positioned by a positioning device (9), and corrects the inserting work starting position of the robot (1). Then, the projecting section (71) is inserted into the recessed section (81) while the force is controlled. After the inserting work is completed, the fitness of the inserting work (7) inserted into the inserted work (8) is discriminated.</p> |
