ROBOT CONTROLLER, ROBOT SYSTEM, ROBOT CONTROL METHOD

摘要

A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. Further, the force control unit performs first force control when an external force direction indicated by the detected sensor value is a first direction, and performs second force control different from the first force control when the external force direction is a second direction opposite to the first direction.

主权项

1. A robot comprising:
a robot main body; and a robot controller configured to control movement of the robot main body and including:
a force controller configured to perform a first force control when an external force direction indicated by a detected sensor value is a first direction, and to perform a second force control different from the first force control when the external force direction is a second direction substantially opposite to the first direction; andan operations controller configured to control operations of the robot main body based on the first or second force control performed by the force controller.