The article take-out apparatus for taking out a rose pile article

A based on information acquired by the visual sensor, it provides Todaseru article take-out device an article stably. According to the article take-out apparatus 10 according to The present invention, when holding the article 12 by the hand 21, acts on the hand 21 is detected by the force sensor 23 provided between the arm 22 and the hand 21 external force is to approach the target value of the external force that is set by the force target value setting unit 32, configured to execute the copying operation in the robot 2 or the hand 21. .Field