Patent 10363661 was granted and assigned to Seiko Epson on July, 2019 by the United States Patent and Trademark Office.
A control device which controls a robot having a moving part includes: a processor which is configured to cause an end effector provided on the moving part to move an insertion object, bring the insertion object into contact with an insertion hole provided in an insertion target object in the state where the insertion object is tilted from a center axis of the insertion hole, and subsequently insert the insertion object into the insertion hole.