After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

A control apparatus of an insertion apparatus in which a state specifying unit specifies a state of an insertion member to carry out vibration control depending on the state, thereby removing getting-stuck of a tip of the insertion member with a vibration having such a proper magnitude as not to cause an overload in a case where the tip of the insertion member is gotten stuck.

A system including a robot mean to move a member by using a first camera coupled to the robot, a second camera coupled to the robot, a control device configured to control position of the robot in order to minimize a pixel-wise distance between the member and a target based on alternating input from the first camera and the second camera.

A robot system that performs work of coupling a flexible cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit, an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered, and a determination unit that can determine force control information necessary for the force control in the insertion action according to the insertion speed.

An automatic racket stringing system includes: two lens modules, respectively shooting a racket thread hole on a racket at a first preset position from different two angles, and the lens modules are based on the angles and determine a first relative coordinate of the racket line hole through a triangulation method; and a control unit controls a robotic arm to grab the racket from an initial position and move the racket to the first preset position; the control unit controls the robotic arm to a second preset position clamps a first end of a racket line, and when the first end of the racket line extends a preset length, it is cut by the robotic arm.

A component insertion device including a robot and a control portion is provided. The control portion is configured to control the operation of the robot. The robot includes a gripper, a dummy component and a force sensor. The gripper is configured for gripping a workpiece component. The dummy component is mounted protruding outward on a location in the gripper and away from the gripped workpiece component. The dummy component has a corresponding part with the same shape as that of a specific part of the workpiece component and exhibits rigidity. The force sensor is configured for detecting, through the gripper, a contact reaction force received by the dummy component from the surrounding of a slot or hole of a receiving portion by which the specific part of the workpiece comment is to be inserted via using the device. Component insertion method and program of using the device are also provided.

A robotic arm is inserted into a passage of a part to be examined. Operator instructions defining a tip motion for a tip of the robotic arm, sensor readings, and an environmental map are received. The operator instructions, the environmental map and sensor readings are applied to a previously trained machine learning model to produce control signals. The control signals to an actuator on the arm to control a movement of the robotic arm allowing the robotic arm to automatically gain traction in the passage and automatically move according to the movement.

An automatic racket stringing system includes: two lens modules, respectively shooting a racket thread hole on a racket at a first preset position from different two angles, and the lens modules are based on the angles and determine a first relative coordinate of the racket line hole through a triangulation method; and a control unit controls a robotic arm to grab the racket from an initial position and move the racket to the first preset position; the control unit controls the robotic arm to a second preset position clamps a first end of a racket line, and when the first end of the racket line extends a preset length, it is cut by the robotic arm.

A system including a robot mean to move a member by using a first camera coupled to the robot, a second camera coupled to the robot, a control device configured to control position of the robot in order to minimize a pixel-wise distance between the member and a target based on alternating input from the first camera and the second camera.

A pair of claws and included in a gripper of a robot have specific shapes and for bending or flexing a specific part of a workpiece in a thickness direction when approaching each other to clamp the workpiece. The pair of claws and are made to approach each other and clamp the workpiece in a state where the specific part is protruded to the outside while making the workpiece and also the specific part undergo an elastic deformation so as to bend or flex in the thickness direction within a range of a transverse-direction dimension of the slot. The specific part of the workpiece is inserted into the slot along an insertion direction perpendicular to a tip end surface by a compliance control based on an output of a force sensor.