Force controlling robot

Abstract

A force-controlling robot having a function of drawing a fitting part from a receiving part. A fitting part held by a robot hand is moved form an approach start position in a set approach direction under speed and force control. When the fitting part comes in contact with a receiving part and a reaction force thereof exceeds a set threshold value, the fitting part is moved under speed and force control with the set target speed and force and in the set inserting/fitting direction so as to perform fitting. If stoppage occurs before the fitting is completed, the fitting part is moved under speed and force control in the set drawing direction and with the set target drawing speed and drawing force, to draw the fitting part from the receiving part. As the drawing operation is automatically performed, restoration is automatically made without manual operation even if stoppage occurs in the fitting operation. Further, assembled parts can be automatically disassembled.

Dependencies are inferred from the claim text.