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Title:
ROBOT, METHOD OF CONTROLLING ROBOT, CONTROL PROGRAM OF ROBOT, AND RECORDING MEDIUM
Document Type and Number:
Japanese Patent JP2016209940
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To add pressurizing force on work with a simple structure of a robot, when the work is pressurized by the robot.SOLUTION: In a robot 140, on a main plane surface defined in a space in which the robot 140 is installed, a reference straight line L connecting a base end portion of a first arm (an upper arm 143) and a tip end portion of a second arm (a front arm 144) is estimated, and while an intersecting angle α on a side facing the reference straight line L of the first arm (the upper arm 143) and the second arm (the front arm 144) is expanded, an angle β between the first arm (the upper arm 143) to the reference straight line L is decreased. A control portion 160 is equipped, which moves a tip end portion of the second arm (the front arm 144) in a work pressurizing direction (an F direction) decided to be along the reference straight line L, and pressurizes a work pressurizing portion (a pressing portion 153) in the work pressurizing direction (the F direction) by the tip end portion of the second arm (the front arm 144).SELECTED DRAWING: Figure 10

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Inventors:
SEI YUKIO
Application Number:
JP2015093701A
Publication Date:
December 15, 2016
Filing Date:
April 30, 2015
Export Citation:
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Assignee:
KANAE KOGYO KK
International Classes:
B25J13/00; B23P19/02; B23P19/04
Attorney, Agent or Firm:
Shuji Shiokawa



 
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