| 摘要 |
<p>A robot controller including an instruction/setting unit for preparing a plurality of control parameters for determining control conditins of a heavy work, and a control unit for executing a force control for the work on the basis of a predetermined control system using a plurality of the control parameters prepared. The instruction/setting means has a construction which collectively instructs and sets a plurality of the control parameters for each control condition corresponding to different work conditions in the heavy work, or in other words, it includes a force control pattern storage unit (6) and a user program storage unit (7). An instruction panel (9) is provided as an instruction device. Read/set of the control parameters from the instruction/setting means to the control means is collectively executed by a pattern selection unit (11). A display portion (9b) of the instruction panel (9) is so constituted so that the content of the prepared user program or the inputted control pattern can be confirmed with eye. In this way, in the instruction of the control condition necessary for the heavy work and in the setting of the control parameters accompanied by this instruction, handling of a large number of control parameters necessary for the control inclusive of the force control can be simplified, and convenience of the programming operation by the user can be improved. The content of the programming can be displayed on the display screen, and the content of the force control pattern can be confirmed easily with eye.</p> |
