Patent ID: 11964397
Assignee: KURASHIKI BOSEKI KABUSHIKI KAISHA
Field: Handling (Mechanical engineering)
Classification: CPC B  G  H | IPC B

Claim 0:
1. A method for moving a tip of a line-like object grasped by a robot hand to a target position, wherein the target position is a hole, and the line-like object has a curved tip, the method comprising:
measuring a position of the tip of the line-like object grasped by the robot hand and measuring an orientation of the tip;
moving the tip to the target position based on the measured position of the tip;
matching the orientation of the tip with a direction of a central axis the hole based on the measured orientation of the tip; and
inserting the tip into the hole by moving the tip along the direction of the central axis of the hole with the orientation of the tip matched with the direction of the central axis of the hole.