Patent ID: 9156163
Filing Date: 2015-10-13
Classification: B04B,B25J,G01N

Abstract:
1. A method of controlling a robot comprising a robot arm and a robot hand provided on the robot arm, the method comprising: performing a first operation of the robot arm and the robot hand to detect a detection target part provided on a rotation body of a rotation device using a sensor, the rotation device includes the rotation body capable of housing a vessel and a fixed part rotatably supporting the rotation body, the rotation body includes a first insertion port and a second insertion port which are to house the vessel; performing a second operation of the robot arm and the robot hand so that an insertion tool is inserted into the first insertion port, the insertion tool is provided on the robot hand, the first insertion port is specified based on a result of the first operation; performing a third operation of the robot arm and the robot hand to move the insertion tool inserted into the first insertion port so that a rotational position of the rotation body is set at a predetermined rotational position at which a position of the second insertion port relative to the fixed part becomes a predetermined particular position; and performing a fourth operation of the robot arm and the robot hand so that the vessel is inserted into or removed from the second insertion port of the rotation body when the rotation body is stopped at the predetermined rotational position.