| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller which enables a user to intuitively and stably operate a robot arm type treatment table.SOLUTION: In a robot controller of an embodiment, a speed joint angle speed command value whose joint angle difference does not exceed a threshold is output from a monitoring unit when an operation direction of a robot is restricted, an excessive ratio of the joint angle difference is calculated by a speed suppression unit when the joint angle difference is restricted by the threshold, a target value is shaped by a target value shaping unit in consideration of the excessive ratio, and the restricted operation direction is displayed to a user by a speed restriction presentation unit. |
