Assembly work and the robot control method of assembly work robot

摘要

PPROBLEM TO BE SOLVED: To provide a control method of an assembly work robot capable of preventing catching of a workpiece during search operation and inserting the workpiece into an insertion position on an object even when there is an uneveness at the edge of the insertion position. PSOLUTION: In the control method of the assembly work robot, the object 202 is moved while the workpiece 201 held by the robot 1002 is pressed to the object 202, the insertion position 203 arranged at the object 202 is searched, and the workpiece 201 is inserted into the insertion position 203. A workpiece end in a search progress direction is raised when the insertion position 203 is searched, and the workpiece 201 is tilted with a preliminarily set inclination angle 306 relative to the object 202. PCOPYRIGHT: (C)2010,JPO&INPIT