Patent ID: 9555548
Date: 2017-01-31
CPC Classifications: B25J,G05B

Claim:
1. A robot control device of a robot system for moving a robot, the robot including a plurality of axes including at least one rotation axis, the robot control device comprising: a force measurement unit configured to measure a measured force applied to a tip of the robot; an operation axis setting unit configured to a first operation force acquisition unit configured to, when a first tip applied force comprises a translational component of the measured force, an operation command unit configured to output, on the basis of an operation force determined from the first operation force, an operation command for moving the operation axis set by the operation axis setting unit, wherein the operation command unit is configured to obtain a target moving direction and a target moving velocity of the operation axis on the basis of (i) the first operation force and (ii) the rotational moving direction set by the operation axis setting unit, so as to move the operation axis.