| 摘要 |
PURPOSE:To enable direct teaching on plural arms to be performed, by providing a sensor means on the base part of the hand of each of plural arms. CONSTITUTION:In a state that a work is supported with plural arms 13 and 14, force which act the force detected by each of force sensors 1 and 2, between the work, and each hand, by detected force coordinate transforming means 3 and 4, are calculated, and gravitation acting on the work, that is, dead weight, is found by a resultant calculating means 7, and it is stored as a targeted resultant in a targeted resultant setting means 9. And the next processing is repeated until the completion of the direct teaching is indicated. The force detected by the force sensor means 1 and 2 are converted to the force acting between the work, and each hand, and the resultant of the force acting on the work is calculated by the resultant calculating means 7. An operation command to each of arm control means 5 and 6 is issued by a detected force operation control means 8 according to the force in which a targeted resultant stored first, that is, the dead weight of the work is subtracted from a calculated resultant. |
