PURPOSE: To directly move a robot by a worker by mounting a power-sensing sensor for detecting the power added by the worker alone on an end effector of the robot.
CONSTITUTION: A detection means 14 for detecting and inputting position, velocity and acceleration of a robot 4, a command input part 7 for inputting aimed position, aimed velocity and an aimed acceleration of the robot 4 through a worker 6, and a robot control part 1 for recording the operation of the robot and for outputting control signal responding to signals from the detection means 14 as well as the command input part 7, are provided. Further, a power-sensing sensor 5 for detecting only the power added to an end effector 8 by the worker, a virtual mechanics model calculation part 2 for carrying out calculation according to a predetermined virtual mechanics model so that a position to travel, velocity, and acceleration of the robot are to be output to a servo control part, and a servo control part 3, are provided.
KANITANI KIYOSHI
HARIKI KAZUO
