DIRECT TEACHING METHOD OF CONTROLLING ROBOT AND DIRECT TEACHING ROBOT SYSTEM

摘要

A method of direct teaching of a robot and a system of direct teaching of a robot is disclosed. The direct teaching robot system of the present invention includes: a robot unit including one or more motors; A servo driver connected to the motor of the robot unit to drive the robot unit to drive the robot unit; And receiving motor information from the servo driver, calculating a torque difference due to an external force based on the motor information, and generating a command for direct teaching when the calculated torque difference is outside a predetermined threshold range and outputting it to the servo driver. It includes a robot control unit.