| 摘要 |
A robot controller for easily moving a desired axis of a robot by applying a force to a front end of the robot, and a robot system including the robot controller. The robot controller has: a force measuring part which measures a force applied to the front end; an operation force calculating part which calculates an operation force for moving each axis based on the measured force; an operation commanding part which outputs a command for moving the robot; and an operation axis specifying part which specifies an operation axis to be moved in response to the force, and determines a direction of movement of the operation axis as a function of a direction of the force. When two or more operation axes are specified, the operation axis specifying part determines as to whether or not each operation axis can be moved, depending on a status of the movement operation. |
