ROBOT ARM CONTROL APPARATUS, ROBOT ARM CONTROL METHOD, ROBOT, ROBOT ARM CONTROL PROGRAM, AND INTEGRATED ELECTRONIC CIRCUIT

摘要

A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.