| 摘要 |
<p>When the hand of a robot at a present position (P1) holds workpieces (W1, W2, W3) at a first target position (P2) and then moves the workpieces to a second target position (P3), if a sensor contacts the workpiece while the hand moves on the way (Px) from the present position (P1) to the first target position (P2), a robot-control unit suddenly stops the hand immediately, or after it moves a predetermined distance, and then makes it hold the work. After that, the hand is moved to the second target position (P3), neglecting the residual distance to be moved from the stop position of the hand to the first target position (P2).</p> |
