| 摘要 |
PROBLEM TO BE SOLVED: To reduce number of uses of a force sensor.SOLUTION: A reference cell 1 equipped with a robot which is provided with a force sensor 16 at a fingertip part performs a force sense control such that a force measurement value measured by the force sensor 16 is feedbacked and a motor current value is calculated. The reference cell 1 records a correspondence between a work position and the motor current value on reference data 3 during performance of the force sense control. The reference data 3 is set onto the copy cell 2 which equipped with a robot having no force sensor at a fingertip part. The copy cell 2 calculates the work position when a force sense control is commanded, thereby acquiring the motor current value on the basis of the calculated work position and the reference data 3. |
