| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-joint robot which can realize suitable saving action of an arm by use of substantially one sensor.SOLUTION: A control device 26 has: a disturbance torque estimation part 34 which estimates a first disturbance torque and a second disturbance torque by calculating and subtracting a torque generated by a mass and action of a robot 10 from a first torque and a second torque detected by a torque detection part 32; and a retracting operation command part 36 which generates an operation command for rotating a corresponding shaft in a disturbance decreasing direction when each disturbance torque exceeds each torque threshold. J1 shaft or J2 shaft is retracted by said operation command, and consequently, a portion of the robot 10 pushed by an operator is retracted, and the operator can easily perform operation without use of a teaching operation board or the like. |
