Robot apparatus, controlling method of robot apparatus, program and recording medium
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United States of America Patent
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Dec 27, 2016
Grant Date -
Sep 3, 2015
app pub date -
Feb 23, 2015
filing date -
Mar 3, 2014
priority date (Note) -
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Abstract
A poor fit state is eliminated during an inserting operation for inserting the inserting object piece to the inserting target piece. Vibrators are attached to fingers of a robot hand, at positions contacting an inserting object piece. A controlling apparatus controls a power source to start vibrating the vibrators before the start of the inserting operation and judges as to whether a detection value of force in a Z direction detected by a force sensor exceeds or falls below a threshold value during the inserting operation. When the controlling apparatus judges that the detection value of force in the Z direction detected by the force sensor exceeds the threshold value during the inserting operation, the controlling apparatus controls the power source to change the amplitudes, the frequencies and the phases of vibrations of the vibrators.
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