| 摘要 |
<p>When an operator (4) applies an external force to a robot (1) via a handle (5) attached to an end portion of an arm of the robot (1), the external force is estimated or detected by a force sensor (30) or an acceleration sensor (40). A copying control means (8) of a robot control unit (2) determines the position of the tool top point (31). When the robot (1) is located in a copying control enabling region (15, 18) or a copying control enabling line segment (16) defined in a block (10) of enabling region settings, the copying control is carried out. The directions of the movement and change of orientation to be followed are determined with reference to the content of the copying control settings in the region where the robot is located at present in the block (9) of the copying control settings, and the copying control is carried out for only the movement and change of orientation in the determined directions, to thereby move the robot (1).</p> |
