ROBOT CONTROL DEVICE, CONTROL METHOD, AND SYSTEM

原文（中国語）

A control device and method for preventing machining precision from deteriorating due to foreign matter sandwiched between a workpiece and a fixing mechanism. The control device controls a robot configured to provide the workpiece to the fixing mechanism and that has a force detection unit for detecting force and moment applied to the workpiece. The control device includes a function for performing a force control to correct the position of the workpiece relative to the fixing mechanism while the robot supplies the workpiece to the fixing mechanism, and then correct the orientation of the workpiece relative to the fixing mechanism; and a function for determining that foreign matter is wedged between the workpiece and the fixing mechanism if, during correction of the position of the workpiece, the force detection unit detects that the moment acting in the direction that the orientation of the workpiece is corrected exceeds a threshold value.