| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device that enables pressing force or pressing torque caused by a collision to be decreased promptly.SOLUTION: A control device includes: generating means that generates a drive command signal that commands drive for driving means which drives a manipulator; a first filter that attenuates or cuts off a frequency band higher than a first cutoff frequency of the drive command signal generated by the generating means; collision determination means that determines whether collision occurs on the manipulator on the basis of result detected by detection means for detecting a predetermined physical quantity produced on the manipulator; collision direction determination means that determines a direction of the collision; and setting means that sets the first cutoff frequency of the first filter on the basis of the direction of the collision. |
