Articulated robot how to work fitting precision by and articulated hand for the robot to be used in its working methods

摘要

PROBLEM TO BE SOLVED: To inexpensively execute a precise fitting work by a normal articulated robot without using a special sensor and a special mechanism.;SOLUTION: There is provided a precise fitting work method by an articulated robot which moves, when a fitting component held by a hand of the articulated robot is precisely fitted into a component to be fitted by actuation of the articulated robot, the fitting component held by the hand along a trajectory in the truncated chevron shape in a plane perpendicular to a fitting direction of the fitting component while energizing the fitting component in a fitting direction by the hand, and fits the fitting component into the component to be fitted.;COPYRIGHT: (C)2014,JPO&INPIT