| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot control system that can determine whether a track of a robot runs off from a plan track based on a detection value of a force sensor and can prevent deviation expansion between the plan track and the track of the robot. <P>SOLUTION: The robot control system 300 includes: a first control part 110 for outputting a control command of the robot 400 in a first cycle based on the plan track; and a second control part 210 for controlling the robot 400 in a second cycle shorter than the first cycle based on the control command obtained by the first control part 110 and the detection value obtained by the force sensor 440. The second control part 210 determines whether the detection value obtained by the force sensor 440 is included within an allowable range of the detection value of the force sensor 440. When the control part determines that the detection value of the force sensor 440 is included within the allowable range, the track of the robot 400 is determined to run off from the plan track. <P>COPYRIGHT: (C)2013,JPO&INPIT |
