Robot controller for controlling a robot on the basis of the external force applied to the robot, and robot system

摘要

[Problem] Conventionally, there have been cases where cause by the unnecessary operation of the saving robot. A robot controller 50 based on the external force detected by the sensor 30, a touch determiner 58 the robot 12 determines whether contact with the object, the robot 12 is determined to be in contact with the object when the, the stop command unit 60 to stop the robot 12, and the contact continuation judging section 62 that the robot 12 after the robot 12 is stopped is determined whether or not the contact continuously with the object, the robot 12 If it is determined that the contact continuously with the object, and a retreat command unit 64 for retracting direction away a robot 12 from the object.FIELD 2