CPC B25J 9/1612 (2013.01) [B23Q 7/046 (2013.01); B25J 9/1638 (2013.01); B25J 13/085 (2013.01)] | 32 Claims |
1. A robot apparatus comprising:
a robot arm;
an end effector provided in the robot arm and configured to hold a workpiece; and
a controller configured to perform a control process for controlling the end effector to release the workpiece, the controller being configured to perform the control process in a case where an operation is performed within a predetermined time to change an orientation of the workpiece with respect to the end effector while the workpiece is supported by a user after a force in a gravity direction acting on the end effector from the workpiece decreases as a result of the user supporting the workpiece that is being held by the end effector.
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