| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot controller allowing a robot to stably continue working even if loading variation, etc. occurs, as well as allowing an operator to concentrate only on his desired target works. SOLUTION: The robot controller contains a capacity control means 4 and a work instruction input means 5. It is also equipped with: a norm action orientation generating means 7 providing movable directions for the robot in response to outputs from the work instruction input means 5; a capacity control parameter setting means 6 defining capacity control parameters of the capacity control means 4 for the robot in response to outputs from the norm action orientation generating means 7; an operative condition monitoring means 8 determining the robot's working condition from both its feedback positions and the outputs of the norm action orientation generating means 7; a capacity control parameter correction factor generating means 9 correcting parameter values from the outputs of the operative condition monitoring means 8; and a working condition indicating means 10 showing the operator each output from the norm action orientation generating means 7, the operative condition monitoring means 8 and the capacity control parameter correction factor generating means 9. COPYRIGHT: (C)2004,JPO
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