Robot, robot system, robot control device, and state determining method

摘要

A robot system (5100) comprises a robot arm (5002), one or more actuators (5041A to 5047A) that are provided in the robot arm to drive the robot arm, a sensor unit (5004) that detects an external force applied to at least one of the robot arm and the actuators, and a controller (5003) that controls an operation of each of the actuators and sets an upper limit and a lower limit of a torque instruction value for each of the actuators on the basis of a sum of a gravity compensation torque for its own weight and a friction compensation torque to operate in a direction of the external force against a frictional force of the actuator to limit the torque instruction value on the basis of a detection result of the sensor unit (5004).