A robot system, processing apparatus and handheld programmer having a function of displaying an external force

摘要

A system for detecting and displaying an external force applied to a robot. A magnitude and a direction of the detected external force are indicated by a picture for visual and intuitive tracing. A robot system includes a robot; a detection area for detecting an external force applied to the robot; a conversion area for converting a size and a direction of the external force detected by the detection area into a coordinate value of a three-dimensional Cartesian coordinate system; an image forming section for generating a power model map representing the magnitude and direction of the external force by a graphic using the coordinate value obtained by the converting section; and a display area for three-dimensionally displaying the power model map generated by the image generation area.