Patent ID: 9623567
Date: 2017-04-18
CPC Classifications: B25J

Claim:
1. A robot control device of a robot system for moving a robot which includes a plurality of axes, the robot control device comprising: a force measurement unit configured to measure a measured force applied to a tip of the robot; a first force calculation unit configured to calculate a first operation force for performing a first movement operation of at least one of a position and a posture of the tip of the robot on the basis of the measured force; a second force calculation unit configured to calculate a second operation force for performing a second movement operation of a position of each of the plurality of axes of the robot on the basis of the measured force; a near-singular configuration determination unit configured to determine whether or not the robot is near a singular configuration; an operation axis setting unit configured to, according to a current position of each of the plurality of axes when the near-singular configuration determination unit determines that the robot is near the singular configuration, an operation command unit configured to,