| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller which can detect an external force applied to a robot with high sensitivity and stops the robot with high accuracy. SOLUTION: The robot controller (10) having a designated speed adjusting means (23) for adjusting a designated speed stored in a program to the designated speed or below, is composed of: a decoding means (38) for decoding a movement stopping instruction for stopping movement of the robot, based on a detected value of a force sensor (2) mounted on a hand wrist of the robot (1); a movement commanding means (36) for creating a movement command for moving the robot in a direction designated by the program, at the designated speed stored in the program without operating the designated speed adjusting means; a force calculating means (31) for calculating a variation from a reference value, as a current force value, the reference value which is a detected value of the force sensor at the time of starting of the movement of the robot; and a comparing means (32) for comparing the current force value repeatedly calculated at a predetermined cycle by the force calculating means, with a predetermined force designated value during the movement of the robot. If the current force value is equal to or above the force designated value, the movement commanding means stops the robot. COPYRIGHT: (C)2008,JPO&INPIT
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