Apparatus and method for controlling robot arm

In an apparatus for controlling a robotic arm having an end effector for packaging a workpiece in a box-shaped open container having a bottom wall and at least one side wall. The inner surface of at least one side wall is covered by an anti-contact piece having an uncertain shape. The controller determines whether a packaging position of a selected workpiece in the box-shaped open container is adjacent to an inner surface of at least one side wall of the container. An inner surface of at least one side wall of the container is adjacent in response to a determination that the specified packaging location in the box-shaped open container. The controller instructs the robot arm to move the selected workpiece picked up by the end effector downward while preventing the picked-up workpiece from entering a prescribed safety area. 在一种用于控制机器人臂的装置中，该机器人臂具有用于将工件包装在具有底壁和至少一个侧壁的箱状敞口容器中的末端执行器，至少一个侧壁的内表面被具有不确定形状的防接触片覆盖，控制器确定在箱状敞口容器中选定的工件的包装位置是否与容器的至少一个侧壁的内表面相邻。响应于确定箱状敞口容器中的指定的包装位置与容器的至少一个侧壁的内表面相邻，控制器指示机器人臂使由末端执行器拾取的选定的工件向下移