Patent ID: 11945122
Assignee: SEIKO EPSON CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 0:
1. A robot control method for causing a processor to execute a process to cause a robot to perform an insertion operation of inserting a second target object with force control into a first target object conveyed by a conveyer, the robot control method comprising:
a follow step of causing the second target object to follow the first target object from an operation start location, based on a conveyance speed of the first target object;
a contact step of bringing the second target object into contact with the first target object, the second target object being in a tilted attitude in relation to the first target object, with the force control;
an attitude change step of changing the attitude of the second target object in such a way that the tilt in relation to the first target object is eliminated, while pressing the second target object against the first target object, with the force control; and
an insertion step of inserting the second target object into the first target object,
wherein, in the contact step, the second target object is tilted toward a direction opposite to a direction of the conveyance of the first target object, in relation to the first target object.