| 摘要 |
PCT No. PCT/JP81/00383 Sec. 371 Date Aug. 26, 1982 Sec. 102(e) Date Aug. 26, 1982 PCT Filed Dec. 16, 1981 PCT Pub. No. WO82/02437 PCT Pub. Date Jul. 22, 1982.A hand of a robot is moved from an instant position P1 to a first command position P2 to grip one of the workpieces W1, W2, W3 placed at the first command position and conveys the same to a second command position P3. As a sensor is contacted by the workpiece when the hand takes an intermediate position Px, on its way from the instant position P1 to the first command position P2, the robot control system decelerates the hand without delay or after a travel of the hand over a predetermined distance and, after travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P3 neglecting the remaining stroke or movement between the stopping position and the first command position.
|
