| 摘要 |
PROBLEM TO BE SOLVED: To provide a simple and safe instructing device of a robot provided with revolute joints of seven axes or more. SOLUTION: The robot constituted by the revolute joints of at least seven axes or more is provided with: a force sensor 3 provided in a tip part of an arm; and an operation handle 4 provided on the force sensor 3, detects operator's operation force applied on the operation handle 4 by the force sensor 3, and carries out instruction on for movement by operating the arm in the direction in which operation force is applied. The operation handle 4 is provided with a redundant shaft operation means 5 for operating a redundant shaft of the robot. COPYRIGHT: (C)2008,JPO&INPIT
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