Patent ID: 9327405
Filing Date: 2016-05-03
CPC Classification: B25J,G05B,H01R

Claim Text:
1. A robot apparatus that performs a work of attaching a linear body, comprising: a gripper that grips the linear body having a first end and a second end, the first end being fixed; an arm main body that guides the second end of the linear body to interior of a certain guide area while the gripper is gripping the linear body; a force sensor that is provided on the arm main body and that detects that the gripper has come into contact with the second end of the linear body; a camera that captures an image of the interior of the guide area in a case where the force sensor detects that the gripper has come into contact with the second end of the linear body; and a controller including: wherein the robot apparatus performs the work of attaching the linear body in accordance with the posture of the second end of the linear body, which is detected by the image processor, wherein a connector is provided at the second end of the linear body, and wherein the force sensor detects when the gripper has come into contact with the connector prior to performing the work and the contact determining unit provides the notification to the image processor when the force sensor detects that the gripper has come into contact with the connector.