| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller which directly displays an external force applied to a distal end of an arm of a robot, and simultaneously allows an operator to keep track of positional information at the time of application of the external force. SOLUTION: The robot controller 10 has: a power converting means 20 for periodically reading output signals outputted from a power sensor 16 and obtaining power conversion values, based on values of the signals; a power detection value calculation section 22 for subtracting a power conversion value at a specific time point from the power conversion values and calculating a differential value as a power detection value; a power conversion value holding section 24 for storing therein the power conversion value at the specific time point; a resetting input means 26 for receiving a resetting request from the operator; a power detection value holding section 28 for recording a power detection value at a time point at which the resetting request is issued to the reset input means 26, as "a power detection value at the time of resetting"; a power display value calculation section 30 for subtracting the power detection value at the time of resetting from the power detection value and calculating a power display value; and a display means 32 for displaying the power display value. COPYRIGHT: (C)2009,JPO&INPIT
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