Engagement confirmation method performed by robot
AssigneeHonda Motor Co., Ltd.
InventorTakeshi Iura
Life of this patent
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Abstract
A robot performs an appropriate operation in accordance with a position control, whereby an operation is carried out to pass a hook as a second engagement member through a hooking hole as a first engagement member. Thereafter, the robot is switched to a servo float control, and receives a command to raise the hook relatively with respect to the hooking hole. An amount of rising of the hook is compared with a maximum allowable amount of rising (threshold value) of the hook.
Claims5
An engagement confirmation method performed by a robot, in which a second engagement member disposed on a retaining body configured to retain a workpiece is relatively brought closer to a first engagement member disposed on the workpiece, and thereafter, it is confirmed by an operation of the robot whether or not the first engagement member and the second engagement member are engaged with each other, comprising the steps of:
- operating the robot in accordance with a position control, and relatively bringing the first engagement member closer to the second engagement member;
- and
- switching the robot to a servo float control, and issuing a command to raise the second engagement member relatively with respect to the first engagement member;
- wherein the first engagement member and the second engagement member are determined to be engaged with each other when a relative amount of rising of the second engagement member until the second engagement member is stopped is equal to or lies within a predetermined threshold value, whereas the first engagement member and the second engagement member are determined not to be engaged when the relative amount of rising of the second engagement member exceeds the threshold value.
Dependencies are inferred from the claim text.