ROBOT SYSTEM, ROBOT, AND ROBOT CONTROL DEVICE

摘要

Provided are: a robot system wherein the joint axes of links that have contacted an object can operate more flexibly; a robot; and a robot control device. The robot system (10) is provided with a robot control device (14) and a robot (12) having: a plurality of links (28) that are coupled with a plurality of joint axes therebetween; a servo motor that drives each joint axis; and a contact detection sensor (30) for detecting that a link (28) has contacted an object. The robot control device (14) has: a contact position determination unit (46) that determines the contact position of the link (28) on the basis of the output of the contact detection sensor (30); a withdrawal direction vector calculation unit (48) that calculates a withdrawal direction vector in the direction of withdrawal of the link (28) corresponding to the contact position; an assist torque calculation unit (50) that calculates an assist torque command for moving the link (28) in the direction of the withdrawal direction vector; and a flexible control unit (52) that adds the assist torque command to the torque command of each servo motor, and performs flexible control of each link (28).