ROBOT CONTROL DEVICE, ROBOT SYSTEM, ROBOT CONTROL METHOD, PROGRAM, AND MANUFACTURING METHOD OF RECORDING MEDIUM AND ARTICLE

摘要

PROBLEM TO BE SOLVED: To stabilize force control of a robot while coping with switching of various operations of the robot.;SOLUTION: An instruction section 501 instructs the operation of a robot in accordance with a robot program 506. A control section 510 performs feedback control of the operation of the robot on the basis of a value of a torque sensor of the robot and a value of an encoder of the robot in accordance with the instruction of the instruction section 501. The instruction section 501 sends a switching condition to the control section 510 performing the feedback control in accordance with the robot program 506. When the state of the robot is matched with the switching condition, the control section 510 sends switching information indicating that the state of the robot is matched with the switching condition to the instruction section 501. The instruction section 501 sends an operation command corresponding to the switching information to the control section 510. The control section 510 switches the operation of the robot in accordance with the operation command.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2018,JPO&INPIT