| 摘要 |
PROBLEM TO BE SOLVED: To teach a robot while bringing it into contact with an object in a teaching operation of the robot, to automatically prepare two teaching points (attitudes) in storing the teaching points, and automatically monitor the contact state, select the operating conditions, and change the control quantity of state in an automatic playback operation. SOLUTION: In this robot control device, a control circuit for a motor driving articulations comprises a position controller 11, a speed controller 13, a proportional speed controller 14, and a speed control integrator 15. This robot control device is provided with a flexible control means 16 comprising a speed control integral limiter 17 provided in a rear stage of the speed control integrator 15, and a torque limiter 18 provided in a rear stage of an adding point of the output of the speed control integral limiter 17 to the output of the proportional speed controller 14; a position preparing means 22 calculating a present position in a robot coordinates system for a position detector 21 and preparing a first teaching point in a surface inside of an object body by a prescribed fixed amount from the present position; and a position storage means 23 storing the first teaching point.
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