The present invention is excellent in the safety of the work because the robot and the worker work apart in the motion instruction work of the robot, and complex by moving the robot using the force / moment generated when the operator pushes and pulls the force / moment sensor by hand The present invention relates to a method of easily instructing the movement of a robot without knowledge of a motion instruction button or coordinate system, and based on an internal three-dimensional coordinate system, externally applied forces in the X, Y, and Z directions and X, Y, and Z directions. A sensor unit 1 for detecting the torsional moment of the shaft; A movement unit (2) mounted to the sensor unit and driven by three joints to change a posture of the internal coordinate system of the sensor unit; A control unit (3) for controlling the three joint rotation angles of the moving unit so that the posture of the internal coordinate system of the sensor unit matches any posture command, and outputting information of the force and the torsion moment detected by the sensor unit to the outside; Inputting a posture value of a specific portion of the robot 4 as a posture command of the controller so that the posture of the internal coordinate system of the sensor unit coincides with the posture of the specific portion of the robot, and detected by the sensor unit. The robot movement instruction method, characterized in that for controlling the robot to move the position of the specific part of the robot along the direction of the force, and to rotate the posture of the specific part of the robot along the direction of the moment detected by the sensor unit. As a very useful invention.
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