The invention relates to a screwing device, including a storage container for screws having a screw head, a screw head drive, and a threaded pin, a robot manipulator having an effector, which is adapted to the screw head and the screw head drive, and is embodied and configured to pick up and handle such a screw, an isolating unit connected to the storage container, which provides screws from the storage container isolated at an interface at a known position in such a way that a respective screw head is accessible to the effector, a control unit for controlling/regulating the robot manipulator, wherein the control unit is embodied and configured to execute the following first control program: the effector is guided by the robot manipulator along a predetermined trajectory T1 having a target orientation O.sub.target,T1(R.sub.T1) to the screw head of a screw provided at the interface, wherein along the trajectory T1 for locations R.sub.T1 of the trajectory T1, the target orientation O.sub.target,T1(R.sub.T1) of the effector is defined, wherein to pick up the screw head in the effector, force-regulated and/or impedance-regulated and/or admittance-regulated rotational movements and/or tilting movements and/or translational movement patterns of the effector in relation to its target orientation are executed by the robot manipulator until a predetermined limiting value condition G1 for a torque acting on the effector and/or a predetermined limiting value condition G2 of a force acting on the effector and/or a limiting value condition G3 for a time for carrying out the rotational and/or tilting movements and/or translational movement patterns is reached or exceeded and/or a provided force/torque signature and/or a position/speed/acceleration signature at the effector is reached or exceeded, which indicates/indicate that the picking up of the screw by the effector has been successfully completed within predefined tolerances.

A robot system has a manipulator that conveys a conveying object to a conveyance destination having a bottom surface and a wall surface connected to the bottom surface. The system includes: a first process in which the manipulator puts a first conveying object on the bottom surface of the conveyance destination; a second process in which the manipulator conveys a second conveying object to a position that does not come into contact with the first conveying object on the bottom surface of the conveyance destination; and a third process in which the manipulator moves the second conveying object in the direction of the first conveying object from the position that does not come into contact with the first conveying object, and moves the first conveying object by further moving the second conveying object after coming into contact with the first conveying object.

A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.

A method able to easily fit a movable shaft part in the corresponding hole. The method includes grasping the base part by the robot and arranging the base part at vertically upward of the top face of the female component so that the plurality of shaft parts are suspended from the base part, moving the base part downward by the robot, and, if a tip end (106c) of at least one shaft part is not inserted into the hole so as to butt against the top face of the female component when moving the base part vertically downward by the robot, moving each of portions of the base part, from which the shaft parts are suspended, in a horizontal direction.

A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.

A jig positioning system includes a robot arm and a control unit. The robot arm grips an assembly jig designed to be positioned on an assembly table. The control unit controls motion of the robot arm. The control unit causes the robot arm: to grip one or more assembly jigs including the assembly jig that are to be selected in sequence for assembly components; and to adjust position and orientation of each of the one or more assembly jigs in accordance with shapes of the assembly components in course of positioning of the assembly jigs on the one or more assembly table.

A robot control apparatus that controls a robot having a movable part provided with a force detection unit includes a robot control part that performs force control on the movable part based on output of the force detection unit, wherein, when an insertion job of moving at least one of a first object and a second object having an insertion portion and inserting the first object into the insertion portion is performed by the movable part, the robot control part performs the force control on the movable part at least in a part of the insertion job, and a first target force of the force control for the movable part to position the first object in a first position and a second target force of the force control for the movable part to position the first object in a second position different from the first position are different.

A robot moves a first target object in a second direction different from a first direction based on an image captured by an imaging device from a time when the imaging device images the first target object at a first position until a time when the first target object reaches a second position which is in the same first direction as the first position.

A method able to easily fit a movable shaft part in the corresponding hole. The method includes grasping the base part by the robot and arranging the base part at vertically upward of the top face of the female component so that the plurality of shaft parts are suspended from the base part, moving the base part downward by the robot, and, if a tip end (106c) of at least one shaft part is not inserted into the hole so as to butt against the top face of the female component when moving the base part vertically downward by the robot, moving each of portions of the base part, from which the shaft parts are suspended, in a horizontal direction.

A robot includes, a holding unit configured to hold an object, an image pickup unit, and a predetermined first portion of the robot. The image pickup unit picks up images of the holding unit and the object using the first portion as a background.