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

Claim 5:
6. A robot system that fits a first object in a second object, comprising:
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; and
a control unit controlling the robot, wherein
the control unit executes
(a) processing of 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) processing of 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) processing of 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.