| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot control device, a robot control system, and a robot control method by means of which positional accuracy can be improved by eliminating positional deviation of a robot during working and vibration of the robot during working can be suppressed and required torque for keeping posture can be minimized.SOLUTION: A CPU 91 specifies a direction in which a tip of a fingertip of a manipulator receives force, with a position and attitude of the fingertip set in a work program as a constraint, the CPU 91 determines a position and attitude of a link in which the link is hard to be displaced the most by the force in a range allowable in redundant degree of freedom, and then the CPU 91 controls servo motors 41-47 so that each of joints has each joint angle that materializes the position and attitude of the fingertip in the determined position and attitude of the link. |
