Object handling apparatus

An object handling apparatus for handling an object to transfer the object from an object supply place to an install place of a machine with a predetermined position/orientation, the apparatus comprising:

• a movable device adjacent to the object supply place delivering the object;
• a first visual sensor provided at the object supply place detecting a position/orientation of the object on the movable device and calculating a displacement of the position/orientation of the object from a predetermined reference position/orientation and sending an object output;
• a first robot picking up the object from the movable device based on position/orientation of the object output from the first visual sensor to a first robot controller, the first robot including a first robot hand, the first robot hand including a plurality of fingers for holding the object, wherein the fingers are driven by one or more servomotors controlled by the first robot controller so that a position and a force of gripping by the fingers on the object is controlled;
• a second visual sensor detecting a position/orientation of the object in the first robot hand;
• and
• a second visual sensor controller receiving the position/orientation of the object in the first robot hand detected by the second visual sensor and calculating a displacement from a predetermined reference position/orientation of the object relative to the first robot hand and sending the displacement as a held position/orientation compensation amount to the first robot controller,
• wherein
• the first robot controller drives the plurality of fingers to compensate for the displacement of the position/orientation of the object, and
• when the position/orientation of the object has been compensated for, the first robot delivers the object to the install place of the machine.