Abstract: A controller of a robot executes processing of determining whether an apparatus is likely to be subjected to an impact and, when determination is made that the apparatus is likely to be subjected to an impact in a case where a movable part is in a first state in which the movable part is able to cause the apparatus to execute a physical operation, transferring the movable part from the first state to a second state for suppressing an impact exerted on the movable part.

Abstract: A press forming die assembly for press forming a blank material includes a draw forming portion that the blank material flows and a draw bead for controlling the amount of the blank material flowing into the draw forming portion. A first draw bead is provided at a periphery of the draw forming portion in a direction substantially parallel to an outer peripheral shape of the draw forming portion. A second draw bead extends from the first draw bead toward the outside of the draw forming portion in a direction intersecting the first draw bead. The blank material includes a thick sheet portion having a greater thickness than the other portion or a high rigidity portion having a higher rigidity than that of the other portion. The second draw bead is provided at a portion corresponding to the thick sheet portion or the high rigidity portion of the blank material.

Abstract: A press forming die assembly for press forming a blank material includes a draw forming portion that the blank material flows and a draw bead for controlling the amount of the blank material flowing into the draw forming portion. A first draw bead is provided at a periphery of the draw forming portion in a direction substantially parallel to an outer peripheral shape of the draw forming portion. A second draw bead extends from the first draw bead toward the outside of the draw forming portion in a direction intersecting the first draw bead. The blank material includes a thick sheet portion having a greater thickness than the other portion or a high rigidity portion having a higher rigidity than that of the other portion. The second draw bead is provided at a portion corresponding to the thick sheet portion or the high rigidity portion of the blank material.