Patent ID: 8424182

Claim:
A fitting device adapted to fitting a second workpiece with a first workpiece located at a fixed position, by using a robot adapted to grip the second workpiece, the fitting device comprising: a force detecting part adapted to detect a force applied to the second workpiece; a fitting status judging part adapted to judge whether the second workpiece is in motion in a fitting direction relative to the first workpiece; a workpiece orientation searching part adapted to change a current orientation of the second workpiece when the fitting status judging part judges that the second workpiece is not in motion in the fitting direction relative to the first workpiece, and judge that the orientation of the second workpiece is proper at the time between when the force in the fitting direction detected by the force detecting part falls below a predetermined threshold or when the speed of the second workpiece in the fitting direction exceeds a predetermined threshold and when the force in the fitting direction detected by the force detecting part exceeds a predetermined threshold or when the speed of the second workpiece in the fitting direction falls below a predetermined threshold, during the change of the orientation of the second workpiece; and a fitting motion commanding part adapted to command the robot which grips the second workpiece to continue a fitting operation, by using the proper orientation of the second workpiece searched by the workpiece orientation searching part.