Control apparatus, control method, and computer-readable storage medium storing a control program

A method for controlling a motion of a robot device, the robot device comprising a suction head to pick up a workpiece using compressed air and a pressure sensor to detect pressure of the compressed air, the method being implementable by a computer, the method comprising:

• causing the robot device to move the suction head to a predetermined position at which the workpiece is fed;
• causing the robot device to attempt to pick up the workpiece with the suction head at the predetermined position;
• determining whether the suction head has picked up the workpiece in the attempt based on a detection result of the pressure of the compressed air from the pressure sensor;
• in response to determination that the suction head has yet to pick up the workpiece,
• causing the robot device to rotationally move the suction head spirally in a horizontal direction while causing the suction head to perform a suction operation for the workpiece using the compressed air;
• estimating a direction in which the workpiece is located with respect to the predetermined position based on a change in the pressure of the compressed air detected by the pressure sensor during the rotational movement of the suction head;
• causing the robot device to further move the suction head in the estimated direction;
• and
• causing, after further moving the suction head in the estimated direction, the robot device to reattempt to pick up the workpiece with the suction head.

A non-transitory computer-readable storage medium storing a control program for controlling a motion of a robot device, the robot device comprising a suction head to pick up a workpiece using compressed air and a pressure sensor to detect pressure of the compressed air, the control program, when read and executed, causing a computer to perform operations comprising:

• causing the robot device to move the suction head to a predetermined position at which the workpiece is fed;
• causing the robot device to attempt to pick up the workpiece with the suction head at the predetermined position;
• determining whether the suction head has picked up the workpiece in the attempt based on a detection result of the pressure of the compressed air from the pressure sensor;
• in response to determination that the suction head has yet to pick up the workpiece,
• causing the robot device to rotationally move the suction head spirally in a horizontal direction while causing the suction head to perform a suction operation for the workpiece using the compressed air;
• estimating a direction in which the workpiece is located with respect to the predetermined position based on a change in the pressure of the compressed air detected by the pressure sensor during the rotational movement of the suction head;
• causing the robot device to further move the suction head in the estimated direction;
• and
• causing, after further moving the suction head in the estimated direction, the robot device to reattempt to pick up the workpiece with the suction head.