| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable a worker to easily and quickly changeover an object to be controlled between a robot and a linear motion external shaft. Ž<P>SOLUTION: A master controller 16 does not control one of the robot 1 and the linear motion external shaft 11 controlled at present and controls the other not controlled at present when the controller determines a signal waveform in which an external force having a magnitude higher than a first threshold is diminished within a first specified time two times within a predetermined time. When determining a signal waveform in which the external force having a magnitude higher than a second threshold is continued over a second specified time or longer, the master controller performs a direct-teach control for the object controlled at present in the period in which the external force having a magnitude higher than the second threshold is imparted to a mechanical sensor 10. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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