HANDLING APPARATUS, CONTROL DEVICE, AND CONTROL METHOD

PROBLEM TO BE SOLVED: To provide a handling apparatus for efficiently operating on a workpiece being carried by identifying detected duplicated portions, a control device and a control method. SOLUTION: The handling apparatus comprises a belt conveyor 2 for carrying workpieces 10, a robot 4 for performing predetermined work on the works 10, a visual sensor 3 for picking up the image of the workpiece 10 being carried to generate work data showing the workpiece 10 in the picked-up image, and a robot controller 5 for putting the work data together for each image to generate tracking data, for accumulating the tracking data in a database, and for controlling the robot 4 using the database to perform the predetermined work on the workpiece 10 carried to the position of the robot 4. The robot controller 5 performs predetermined operation on the work data read out of the database with respect to each tracking data to detect the duplicated work data, and cancels the operation control of the robot 4 based on the duplicated work data. COPYRIGHT: (C)2010,JPO&INPIT