| 摘要 |
PROBLEM TO BE SOLVED: To reduce the load on teaching of parts assembly operation by a robot. SOLUTION: A robot's teaching reproduction device (control device) is provided with a time-series data storage means 6 which acquires time-series data of force torque data, together with location attitude data during manual operation, and a force teaching data generation means 7 for generating force teaching data regarding contact force, based on force torque data of the time-series data. Also a force target value generation means 8 for generating the force target value, according to the present location posture target value from this force teaching data during reproduction. COPYRIGHT: (C)2008,JPO&INPIT
|
