| 摘要 |
PURPOSE: To provide a direct teaching device which can be easily installed even on a ready-made robot without arranging a special driving mechanism such as a clutch and a balance device of an arm or the like in a robot and by which a physical and mental fatigue degree of an operator can be reduced. CONSTITUTION: A teaching handle device composed of a force detector 21, a support part 23 fixed to the detecting end of the force detector, a contactor 24 which is arranged at the tip of the support part and contacts with a work and a grip part 22 which is arranged on the support part and is gripped and operated by an operator, is arranged in a tip part of a robot. A control means to control force of the robot in teaching by using the teaching handle device on the basis of information obtained by the force detector, is arranged in a robot control device. |
