| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control device capable of highly accurately detecting contact between a robot and an external environment with high sensitivity. SOLUTION: This robot control device detects the contact between the robot 1 and the external environment from output of a strain detecting sensor 2 when executing a work program 4 by executing a pretaught work program 4 by controlling the multi-articulated robot 1 having the sensor 2 in a base part. A control device 3 includes a filter processing part 85 for executing filter processing to sensor output when executing the work program 4 and a state recognizing part 86 for recognizing a contact state between the robot and the external environment by using a filtering result of the filter processing part 85. The filter processing part 85 dynamically changes a cutoff frequency of the filter processing to the sensor output in response to an operation form of the robot 1 when executing the work program 4. COPYRIGHT: (C)2011,JPO&INPIT |
