A HAPTIC-TYPE ROBOT CONTROL DEVICE FOR CONTROLLING THE OPERATION OF THE ARTICULATED ROBOT ARM

摘要

The present invention relates to a haptic type robot control device for controlling motions of an articulated robot arm, offsetting gravity load caused due to the weight of the haptic type robot control device so as to reduce the size and weight of an instrument. To this end, the haptic type robot control device for controlling motions of an articulated robot arm comprises: a wire of which one end is connected to the end portion of a control arm including a plurality of joint units and a plurality of link units to control the position and direction of the articulated robot arm; and a tension controller connected to the other end of the wire to enable the tension of the wire to be maintained at a predetermined level.