COMPLIANT APPARATUS FOR THE TOOL AT THE END OF AN ARM OF AN INDUSTRIAL ROBOT

摘要

A robot (12) is used to pick parts from a bin (40 in Fig. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (fig. 16, 17) which can be the picking tool to stir the parts in the bin.