Patent ID: 9529340
Filing Date: 2016-12-27
CPC Classification: B25J,G05B,Y10T

Claim Text:
1. A robot apparatus comprising: a robot arm; a robot hand having a plurality of fingers for grasping a inserting object piece and being attached to the robot arm; a force sensor configured to detect a force exerted on the robot hand in a inserting direction to insert the inserting object piece to a inserting target piece; at least two vibrators respectively attached to two or more of the plurality of fingers, at a position so as to contact the inserting object piece; a driving source configured to vibrate each of the vibrators; and a controlling unit configured to control the robot arm and the robot hand, and to control the driving source, wherein the controlling unit: controls the driving source, to perform a inserting operation and to start a vibration of each of the vibrators; and judges as to whether a detecting value by the force sensor exceeds a threshold value or falls below the threshold value; and, when the controlling unit judges the detecting value by the force sensor exceeds the threshold value during the inserting operation, the controlling unit controls the driving source, to change at least one of an amplitude, a frequency and a phase of the vibration of at least one of the vibrators.