Patent ID: 11970344
Assignee: DENSO WAVE INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. The method according to claim 8, wherein
in response to the determination that the specified position in the box-shaped open container is adjacent to the inner surface of the at least one side wall of the container, the method further comprises instructing the robot arm to perform:
a first motion that moves the end effector to thereby locate an outer edge of the selected and picked-up workpiece, which is closest to the at least one side wall of the box-shaped open container, at an offset position, the offset position being offset by the safety distance relative to the at least one side wall of the box-shaped open container in the horizontal direction;
a second motion that moves the end effector straight downward until the workpiece picked up by the end effector reaches a predetermined height position in a height direction of the box-shaped open container; and
a third motion that moves the end effector toward the specified position in the box-shaped open container.