A robot controller for a working cell

Long teaching time greatly reduces production efficiency in high-mix low-volume production. The teaching time was shortened by easy offline teaching. This paper describes an example of a robot controller for work cells for high-mix low-volume production. By this controller, we can easily teach tasks. In order to perform work with easy offline teaching, Ambiguous teaching position by rough teaching is corrected by visual feedback by hand-eye camera and force control by the force sensor. The robot controller was manufactured, and made a task performance test on "Grasp the bolt in the pallet".