| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot control device that enables a rapid copying control that follows a shape of a workpiece as much as possible without posing an excessive load to a robot, operation tools and the workpiece, even when the workpiece has an unknown-shaped part, obstacles or the like. <P>SOLUTION: The robot control device 14 includes: a force detection device 16 for detecting force acting between the tool and the workpiece; a movement switching determination/movement parameter adjustment part 34 for determining the switching of movement of the robot 12 and adjusting parameters of the robot; and a command computing part 36 for computing a command to be transmitted to the robot 12 based on a movement command generated by the movement switching determination/movement parameter adjustment part 34. <P>COPYRIGHT: (C)2012,JPO&INPIT |
