Patent ID: 7949431

Claim:
A fitting device for fitting a columnar type fitting workpiece, which is held by a robot, to a fitting hole, capable of being fitted to the fitting workpiece, of a workpiece to be fitted by force control, comprising: a force detecting portion for detecting a force and moment acting on a control point at a center of a bottom face of the fitting workpiece; a judging portion for judging whether or not clogging is caused between the fitting workpiece and the workpiece to be fitted at the time of fitting; and a changing portion for changing a position of the control point upward along a center line of the fitting workpiece by a value smaller than a distance by which the fitting workpiece enters into the fitting hole of the workpiece to be fitted and for pressing an outer circumferential face of the fitting workpiece against an inner circumferential face of the fitting hole of the workpiece to be fitted in a direction perpendicular to the fitting direction so as to adjust a posture of the fitting workpiece by the force control based on a moment acting around the control point that has been changed, in the case where it is judged by the judging portion that clogging is caused.