| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot capable of reducing cycle time in work using a force sensor, and to further provide a robot system and a robot control device.SOLUTION: A robot comprises: a robot arm; a force sensor; and a control section for controlling operation of the robot arm. The control section starts initialization of the force sensor after the robot arm starts deceleration and cancels an initialization state of the force sensor when a speed of the robot arm is a constant speed. Further, the robot has an inertia sensor being provided to the robot arm and for detecting an angular velocity or acceleration. The control section obtains the speed of the robot arm on the basis of detection results of the inertia sensor and determines the speed of the robot arm to be the constant speed when amplitude of oscillation of the speed is less than a threshold value A.</p> |
