| CPC B25J 9/1687 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1669 (2013.01)] | 7 Claims |
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1. A control method for a robot including a robot arm, the control method for causing a processor to execute a process, the control method comprising executing on the processor the steps of:
gripping a first target object by the robot arm in a first state in which the first target object is inclined with respect to a reference direction, a control point being set at a midpoint of a distal end of the first target object, a center axis of the first target object passing through the control point;
performing, after the gripping of the first target object, first movement to move the first object to a first position at which the first target object is in the first state, the control point of the first target object at the first position being spaced apart from a second target object along the reference direction, the second target object having an insertion hole extending along the reference direction;
performing second movement with first force control to move the first target object along the reference direction from the first position toward a first edge of the insertion hole of the second target object;
stopping the second movement at a second position when the processor determines that a part of a bottom surface of the first target object contacts the first edge of the insertion hole of the second target object based on the first force control, the control point at the second position being located inside of the insertion hole;
performing, after the stopping of the second movement, third movement with second force control to move the first target object toward a second edge of the insertion hole opposite to the first edge while an inclined state of the first target object is maintained;
stopping the third movement at a third position when the processor determines that one side surface of the first target object contacts the second edge based on the second force control;
performing, after the stopping of the third movement, an insertion operation in which the first target object is inserted into the insertion hole of the second target object by aligning the center axis of the first target object with a center axis of the insertion hole;
setting a first determination reference that is a reference distance between the control point at the first position and the control point at the second position; and
performing a repeat operation in which the gripping of the first object, the performing of the first movement, the performing of the second movement, the stopping of the second movement, the performing of the third movement, the stopping of the third movement, and the performing of the insertion operation are repeated,
wherein, in the performing of the first movement of the performing of the repeat operation, the processor is configured to move the first target object to a fourth position under a condition of the first determination reference in which a distance between the control point at the fourth position and the control point at the second position is less than the reference distance.
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