| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control device reducing a calculation load of a force sensor.SOLUTION: A robot control device 1 includes: a track generation section 14 for generating an angle command value for each joint of a robot 2 on the basis of a robot program 11; a servo control section 18 for driving a plurality of joints so that an angle of each joint follows the angle command value for each joint; a force sense control section 17 for executing first force sense control calculating correction amount to correct the angle command value for each joint to be used by the servo control section 18 on the basis of a detection value of the force sensor 3; and a program execution section 13 as a switching section for allowing the force sense control section 17 to execute or stop a force sense operation on the basis of the robot program 11. |
