CPC B25J 9/1687 (2013.01) [B25J 13/085 (2013.01); B25J 13/088 (2013.01)] | 6 Claims |
1. A fitting method of fitting a first object in a second object using a robot having a movable unit including a robot arm and an end effector provided in the robot arm and gripping the first object and a force detection unit detecting a force applied to the movable unit, comprising:
(a) moving the first object in a fitting direction and detecting a first position as a position where fitting of the first object and the second object is determined;
(b) moving the first object from the first position toward a determination direction different from the fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value; and
(c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.
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