Method of controlling robot body, method of manufacturing product, robot apparatus, and recording medium

A method of manufacturing a product by using a robot, the robot being controlled by a controller and comprising a finger, a driving unit configured to move the finger, and a detection unit configured to output a signal corresponding to a state of the finger, the method comprising:

• causing the finger to hold a workpiece based on a target value of a state of the finger when the finger holds the workpiece;
• causing the robot to start an assembly operation for the workpiece if a detected value based on the signal outputted from the detection unit when the workpiece is held by the finger is within a first range set with respect to the target value of the state of the finger when the finger holds the workpiece, the assembly operation including a predetermined operation of moving the workpiece in a state where the finger holds the workpiece;
• and
• causing the robot to continue to perform the assembly operation until completion of the assembly operation if the detected value is within a second range set with respect to the target value of the state of the finger when the finger holds the workpiece,
• wherein the second range is a range in which an error is not determined even if the finger changes from being at the target value to outside of the first range while the robot is performing the predetermined operation, and a size of the second range is different from a size of the first range.

A robot apparatus comprising:

• a robot comprising:
• a finger;
• a driving unit configured to move the finger;
• and
• a detection unit configured to output a signal corresponding to a state of the finger;
• and
• a controller configured to control the robot,
• wherein the controller is configured to:
• cause the finger to hold a workpiece based on a target value of the state of the finger when the finger holds the workpiece,
• cause the robot to start a predetermined operation of moving the workpiece in a state where the finger holds the workpiece if a detected value based on the signal outputted from the detection unit when the workpiece is held by the finger is within a first range set with respect to the target value of the state of the finger when the finger holds the workpiece, and
• cause the robot to continue to perform the predetermined operation until completion of the predetermined operation if the detected value is within a second range set with respect to the target value of the state of the finger when the finger holds the workpiece,
• wherein the second range is a range in which an error is not determined even if the finger changes from being at the target value to outside the first range while the robot is performing the predetermined operation, and a size of the second range is different from a size of the first range.