Patent ID: 11865728
Assignee: SEIKO EPSON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A fitting method of fitting a first object in a second object using a robot having a movable unit including a robot arm and an end effector provided in the robot arm and gripping the first object and a force detection unit detecting a force applied to the movable unit, comprising:
(a) moving the first object in a fitting direction and detecting a first position as a position where fitting of the first object and the second object is determined;
(b) moving the first object from the first position toward a determination direction different from the fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value; and
(c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.