Robot, control apparatus and control method for a robot, and a control program of the control apparatus for a robot

摘要

(30) is based on the angle formed with the horizontal plane hand the vertical force and hand (3) an object (30) between the estimated carrying capacity estimating unit (14) the transport force is applied in the vertical direction (2) Human And then to perform the force control force in the vertical direction of the robot arm in the robot system (1) becomes a predetermined force based on the force that is estimated.