System and method for judging success or failure of work of robot

A system for judging success or failure of a work of a robot, the system comprising:

• a position command generating means that generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting means, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot;
• a contact position detecting means that calculates a contact position that is a position of a tip end of the position and posture detecting means at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting means;
• and
• a work success/failure judging means that judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.

A method of judging success or failure of a work of a robot, the method comprising:

• generating a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot;
• calculating a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit;
• and
• judging the predetermined work to be successful when the calculated contact position is within a predetermined range and to be failed when the calculated contact position is not within the predetermined range.