ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD AND PROGRAM FOR CONTROLLING ROBOT CONTROL APPARATUS

摘要

A transportation force applied in a vertical direction by a man (2) is estimated by a transportation force estimating section (14), based on a force in the vertical direction between a substance (3) and a hand (30) and on an angle formed by the hand (30) with a horizontal surface. Then, based on the estimated force, a force of the robot arm in the vertical direction in the robot system (1) is controlled to be a prescribed force.