| 摘要 |
PROBLEM TO BE SOLVED: To provide a programming pendant which facilitates teaching of a control parameter of a physical contact force etc. associated with a command in an actual line, of a command row created on an off-line basis. SOLUTION: The programming pendant 7 carries out teaching to a robot 1 having a power sensor 2 on a hand, for carrying out assembling work by bringing both component parts 4, 5 into contact transition with each other, and to a control device 11 having an impedance control section 13 to which an output from the power sensor 2 is fed back, for controlling the robot 1. In this case, the programming pendant 7 includes a reaction presenting means 10 for transferring a contact reaction between the component parts to the teaching operator as a tactual sense, a reaction control means 16 for issuing an operation command based on output from the power sensor 2, to the reaction presenting means 10, and an adjusting means 9 for adjusting the control parameter of an impedance control section 13. COPYRIGHT: (C)2007,JPO&INPIT
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