| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique by which a parameter of a robot can be obtained even if a wide space is not assured.SOLUTION: A robot control device controls a robot comprising an arm to a tip of which an end effector is mounted, and a drive part which drives the arm by a first drive shaft and a second drive shaft which is positioned on the tip side with respect to the first drive shaft. The robot control device comprises: a control part which so controls the drive part that the arm takes plural attitudes; and a lead-out part which leads out at least one of a mass of the end effector, a center of gravity of the end effector, a gravity direction of the robot, and a an off-set error of a force detector on the basis of the result detected by the force detector when the arm took the plural attitudes. The control part so controls the drive part that a drive amount of the second drive shaft is larger than that of the first drive shaft, so that the arm takes the plural attitudes.SELECTED DRAWING: Figure 4 |
