Abstract: A coupling method of coupling a flexible flat cable to a connector by a robot, includes a preparation step of preparing the connector having an insertion hole into which the flat cable is inserted and a seat having an introduction surface placed at a front side of the insertion hole and continuously coupled to the insertion hole, a first moving step of gripping the flat cable and moving the flat cable to a position facing the seat; and a pressing step of bringing the flat cable into contact with the introduction surface in a posture inclined relative to the seat with an end of the flat cable facing the insertion hole side and pressing the flat cable against the introduction surface, and moving the end toward the connector side.

Abstract: A working method of performing work with increase or decrease in weight on an object by a robot system having a robot, a first hand with an assist device, and a second hand without the assist device, includes switching between an assisted work state in which the first hand is coupled to the robot and work is performed with assistance by the assist device and a non-assisted work state in which the second hand is coupled to the robot and work is performed without assistance by the assist device according to a weight of the object.

Abstract: A robot system that performs work of coupling a 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, and a robot control apparatus that controls the robot, wherein the robot control apparatus controls the robot to perform a conveyance action for the gripping unit to grip the cable with a first gripping force and convey the cable onto the board, a correction action for the gripping unit to grip the cable with a second gripping force and correct a posture of the cable based on the force acting by pressing the cable against the connector, and an insertion action for the gripping unit to grip the cable with a third gripping force and insert the cable into the connector.

Abstract: A working method of performing work with increase or decrease in weight on an object by a robot system having a robot, a first hand with an assist device, and a second hand without the assist device, includes switching between an assisted work state in which the first hand is coupled to the robot and work is performed with assistance by the assist device and a non-assisted work state in which the second hand is coupled to the robot and work is performed without assistance by the assist device according to a weight of the object.

Abstract: A coupling method of coupling a flexible flat cable to a connector by a robot, includes a preparation step of preparing the connector having an insertion hole into which the flat cable is inserted and a seat having an introduction surface placed at a front side of the insertion hole and continuously coupled to the insertion hole, a first moving step of gripping the flat cable and moving the flat cable to a position facing the seat; and a pressing step of bringing the flat cable into contact with the introduction surface in a posture inclined relative to the seat with an end of the flat cable facing the insertion hole side and pressing the flat cable against the introduction surface, and moving the end toward the connector side.

Abstract: A robot system that performs work of coupling a 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, and a robot control apparatus that controls the robot, wherein the robot control apparatus controls the robot to perform a conveyance action for the gripping unit to grip the cable with a first gripping force and convey the cable onto the board, a correction action for the gripping unit to grip the cable with a second gripping force and correct a posture of the cable based on the force acting by pressing the cable against the connector, and an insertion action for the gripping unit to grip the cable with a third gripping force and insert the cable into the connector.

Abstract: A robot includes an arm, and a force detector provided in the arm and detecting a force, wherein at least one of a first object and a second object is moved in a direction in which the first object and the second object are closer to each other by the arm, and, if contact of the first object with a position different from an insertion portion of the second object is determined based on output of the force detector, the first object and the second object are separated.

Abstract: A robot includes an arm, and a force detector provided in the arm and detecting a force, wherein at least one of a first object and a second object is moved in a direction in which the first object and the second object are closer to each other by the arm, and, if contact of the first object with a position different from an insertion portion of the second object is determined based on output of the force detector, the first object and the second object are separated.

Abstract: Provided is a test apparatus that tests a device under test, comprising a waveform generator that generates a test signal to be supplied to the device under test; a digitizer that measures a response signal output by the device under test; a judging section that judges acceptability of the device under test based on the measurement result of the digitizer; and a loop-back path that connects an output terminal of the waveform generator to an input terminal of the digitizer when calibration is performed for the waveform generator and the digitizer. The loop-back path includes a noise removal filter that eliminates a noise component from a signal passed therethrough; and a path switching section that connects the waveform generator to the digitizer via the noise removal filter when the digitizer is being calibrated, and connects the waveform generator to the digitizer without including the noise removal filter therebetween when the waveform generator is being calibrated.

Abstract: Provided is a test apparatus that tests a device under test, comprising a waveform generator that generates a test signal to be supplied to the device under test; a digitizer that measures a response signal output by the device under test; a judging section that judges acceptability of the device under test based on the measurement result of the digitizer; and a loop-back path that connects an output terminal of the waveform generator to an input terminal of the digitizer when calibration is performed for the waveform generator and the digitizer. The loop-back path includes a noise removal filter that eliminates a noise component from a signal passed therethrough; and a path switching section that connects the waveform generator to the digitizer via the noise removal filter when the digitizer is being calibrated, and connects the waveform generator to the digitizer without including the noise removal filter therebetween when the waveform generator is being calibrated.