JP5572994B2 - Robot controller - Google Patents

Description

  The present invention relates to a robot control apparatus that outputs a drive signal for moving a tool center point to an actuator of a robot in accordance with an operation of an operation element such as an operation lever.

  For example, in a vehicle production line or the like, a large and heavy work is often handled so that a worker cannot carry it alone. Conventionally, a power assist device has been used in order to save such work. In this power assist device, most of the load in the gravity direction of the work can be borne by the device, and the work load borne by the worker can be reduced.

  In the above-described power assist device, the operator operates the manipulator to operate the manipulator, thereby moving the work held at the hand of the manipulator to a desired posture or position. Therefore, in the power assist device, the operation force of the worker applied to the operation element is detected by a force sensor, and the operation direction of the operation element is determined from the detected operation force. And the drive signal which moves a workpiece | work to the operation direction of the discriminate | determined operation element is produced | generated, and this is output to the actuator of a manipulator (for example, patent documents 1, 2).

  In the case of the vehicle production line described above, the movement of the workpiece by the power assist device is often used in the assembly process. When moving the workpiece to the assembly target assembly position, move the workpiece roughly until it approaches the assembly target, and then move the workpiece to the assembly position finely and accurately after approaching the assembly target to some extent. It is desirable.

  In the case of a work that can be moved by the worker, the intention of the worker regarding how to move the work, whether the work is to be moved roughly or finely, Appears in the operating force applied to the workpiece. Therefore, when the worker moves the workpiece by operating the operator using the power assist device, the operator's intention regarding the movement of the workpiece appears in the operating force of the operator.

  Therefore, in order to determine the operator's intention regarding how to move the workpiece from the operation force of the operator detected by the force sensor, at least the sensitivity of the force sensor needs to be increased. However, increasing the sensitivity of the force sensor is naturally limited from the viewpoint of preventing the workpiece from moving in a direction unintended by the worker due to interference with other axes. Further, since the force sensor is originally an expensive sensor, it is not practical from the viewpoint of cost to require high sensitivity.

  In addition, an operation system that tilts a joystick has been proposed instead of the operation system that detects the operation force of the operation element using a force sensor (for example, Patent Document 3). However, even in this proposal, there is no mention of a method for determining an operator's intention regarding a method of moving a workpiece from the tilt angle of the joystick.

JP 2008-194758 A JP 2008-231119 A JP 2001-92546 A

  As described above, in the power assist device, it is practically difficult to determine the operator's intention of how to move the workpiece from the operation force of the operator. Therefore, it is conceivable to estimate the worker's intention instead of judging the worker's intention. In order to estimate the worker's intention, a parameter that reflects the intention is sensed, and some estimation processing is performed from the content of the sensed parameter. In this case, if the estimation accuracy is not high, an operation different from the operator's intention is performed and the operability is deteriorated. Therefore, a device that performs such an estimation process must be a large-scale device, and this is also not realistic.

  The above-described problem is not limited to the case where the tool moves while gripping the workpiece. For example, when a tool such as a welding torch of a robot moves toward a welding target location by operating the operator, etc. Is also common.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to change the movement speed of the tool center point by operating the operator according to the situation when the tool center point of the robot is moved by operating the operator. An object of the present invention is to provide a robot control device that can be adjusted with good operability.

In order to achieve the above object, a robot control apparatus according to the present invention described in claim 1
In the robot control device that outputs a drive signal for moving the tool center point to the robot in accordance with the operation of the operator,
Characteristic data holding means for holding characteristic data indicating the characteristic of the moving speed of the tool center point with respect to the operation amount from the origin of the operator;
The robot is driven so that the tool center point moves at the moving speed corresponding to the operation amount from the origin of the operating element indicated in the characteristic data, based on the content of the driving signal output when operating the operating element. Signal content determining means to be content to be
With
Of the range related to the operation amount from the origin of the operation element, the characteristic of the range portion excluding at least the maximum operation amount of the operation element is greater when the operation amount from the origin of the operation element is smaller than The amount of change in the movement speed of the tool center point relative to the amount of change in operation of the operator is a characteristic that is relatively large.
It is characterized by that.

  According to the robot control apparatus of the present invention described in claim 1, when the operation amount from the origin of the operation lever is small, the change amount of the moving speed of the tool center point with respect to the operation amount of the operation element is small, and the origin of the operation element When the operation amount from is large, the amount of change in the movement speed of the tool center point with respect to the operation amount of the operator is large. Therefore, when the control is far from the origin (the amount of operation from the origin is large), the tool center point is the same as when the control is close to the origin (the amount of operation from the origin is small). The movement speed of will change greatly. Thereby, the moving speed of the tool center point can be adjusted with good operability by the amount of operation from the origin of the operator by the operation of the operator. For example, when moving the workpiece to the assembly position of the assembly object, the workpiece is roughly moved until it approaches the assembly object, and after approaching the assembly object to some extent, the workpiece is moved to the assembly position finely and accurately. Can be made.

Further, the robot control apparatus of the present invention according to claim 1, before Symbol characteristic for each operation amount of the operator in excess of the range section, the maximum moving speed of the tool center point is assigned respectively characteristics der is, and, in the operation amount is the smallest range from the origin, the amount of change in the moving speed of the tool center point is relatively smallest relative change amount of the operation, the medium is the operation amount from the origin In the range of about, the change amount of the moving speed of the tool center point relative to the change amount of the operation is relatively largest, and in the range where the operation amount from the origin is the largest, the tool center point relative to the change amount of the operation. This is characterized in that the amount of change in the movement speed is relatively moderate .

According to the robot controller of the present invention as set forth in claim 1, the operation amount of the steering Sakuko exceeds at least excluding range moiety maximum operation amount of the operator, the state in which the tool center point moves at maximum speed Maintained. For this reason, the tool center point can be roughly moved at a high speed by roughly operating the operation element up to the operation amount close to the maximum operation amount without operating the operation element strictly to the maximum operation amount.

Further, the robot control apparatus of the present invention as set forth in claim 2, the robot control apparatus of the present invention as set forth in claim 1, wherein the characteristic data holding means, in correspondence with the characteristics of a plurality of patterns different in contents the A plurality of characteristic data are held, or a characteristic expression obtained by parameterizing the characteristic is held as the characteristic data, and desired characteristic data is selected from the plurality of characteristic data, or a variable of the characteristic expression Selecting means for selecting a variable value to be substituted into the signal content, and the signal content determining means indicates the content of the drive signal output when operating the operation element by the desired characteristic data selected by the selecting means. Or the content corresponding to the characteristic represented by the characteristic formula obtained by substituting the variable value selected by the selection means into a variable. And butterflies.

According to the robot control apparatus of the present invention described in claim 2 , in the robot control apparatus of the present invention described in claim 1 , the desired characteristic data is selected by the selection means, or the desired variable value is selected. As a result, the moving speed of the tool center point corresponding to the operation amount of the operator becomes a characteristic according to the preference of the operator. For this reason, for example, when the robot controller is shared by a plurality of operators, each operator can move the tool center point by operating the operator with characteristics according to his / her preference. .

According to a third aspect of the present invention, there is provided the robot control device according to the first aspect of the present invention, wherein the robot is a power assist device that assists the movement of the workpiece. To do.

  According to the robot control device of the present invention described in claim 3, in the robot control device of the present invention described in claim 1 or 2, when the workpiece is transferred by the power assist device, the operator is operated by the operator. The moving speed of the workpiece can be adjusted with good operability according to the operation amount from the origin.

  According to the robot control apparatus of the present invention, the movement of the workpiece by the robot according to the positional relationship between the current position and the movement destination can be realized by operating the operator.

It is a typical side view showing composition of a robot control device concerning one embodiment of the present invention, and a robot device controlled by it. It is a perspective view which shows the structure of the operating device of FIG. It is a front view which shows the use condition of the robot apparatus of FIG. It is a top view which shows the use condition of the robot apparatus of FIG. It is a block diagram which shows the electrical schematic structure of the robot control apparatus of FIG. It is explanatory drawing which shows the case where the characteristic data of the moving speed of the tool center point of the robot apparatus with respect to the operation amount of the operation lever of FIG. 1 are defined by a square function and a cube function, respectively. 7 is an explanatory diagram in a case where the change amount of the moving speed of the tool center point with respect to the change amount of operation of the operation lever in the vicinity of the maximum operation amount of the operation lever of FIG. FIG. 7 is an explanatory diagram when the moving speed of the tool center point is defined invariably with respect to the change amount of the operation lever operation in the vicinity of the maximum operation amount of the operation lever of FIG. 1 in the characteristic data of FIG. 6.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view showing a configuration of a robot control device according to an embodiment of the present invention and a robot device controlled thereby.

  A robot apparatus 4 controlled by the robot control apparatus according to the present embodiment shown in FIG. 1 includes, for example, a manipulator 1, and the manipulator 1 can grip, transport, process, and assemble a workpiece 101 into other members. It is what is said.

  The manipulator 1 is composed of an articulated arm connecting a plurality of arms. The manipulator 1 can determine the position and orientation of the space 6 degrees of freedom by rotary actuators 4a to 4f (see FIG. 5) described later. Each rotary actuator 4a-4f is controlled by the controller 3 which comprises a robot control apparatus.

  A tool 5 for gripping and processing the workpiece 101 is provided on the distal end side of the manipulator 1. The tool 5 is controlled by the controller 3.

  FIG. 2 is a perspective view showing the configuration of the operating device of FIG. In this embodiment, the operating device 6 is attached to a movable portion (manipulator 1) of the robot device 4 as shown in FIG. However, the operation device 6 may be installed and used at a position away from the robot device 4 as described later. The operating device 6 includes a fixed lever 7, an operating lever 8, and an indicator lamp 9.

  The fixed lever 7 has an enable switch 10 and an emergency stop switch 11. The enable switch 10 has an initial position (hereinafter referred to as a non-pressed position), a pressed position pressed below the non-pressed position (hereinafter referred to as an intermediate position), and an intermediate position as indicated by an arrow A in FIG. It is set to one of three points with the pressed position pressed more. The enable switch 10 returns to the non-pressed position when no external force is applied. When the emergency stop switch 11 is pressed, the operation of the robot apparatus 4 is stopped immediately.

  Then, the controller 3 enables manual operation of the manipulator 1 of the robot apparatus 4 when the enable switch 10 is in the pressed position. This manual operation is performed by operating the operation lever 8.

  In the present embodiment, the operation lever 8 (corresponding to the operation element in the claims) is configured by using a joystick operated by an operator (hereinafter referred to as “operator”). The operation lever 8 can be translated and tilted in each direction of 360 ° from the origin. Further, the operation lever 8 can be moved in the central axis direction of the operation lever 8 with respect to the origin. Further, the operation lever 8 is configured to be rotatable around the central axis of the operation lever 8 with respect to the origin. When the operation lever 8 is moved back and forth, right and left or up and down, the tool center point of the tool 5 moves back and forth, right and left or up and down. When the operation lever 8 is tilted back and forth and right and left, the tool center point turns back and forth and right and left. When the operating lever 8 is rotated around its central axis, the tool center point turns in the horizontal plane. The movement, tilting, and rotation of the operation lever 8 and its operation amount can be detected by the force sensor 8a. When the operator stops the operation, the operation lever 8 returns to the origin.

  The force sensor 8a is for detecting the operation amount of the operation lever 8 by the operator for each operation direction. In the present embodiment, a 6-axis force sensor is used as the force sensor 8a. The force sensor 8a detects three force components (Fx, Fy, Fz) and three moment components (θx, θy, θz) applied to the force sensor 8a, and outputs a signal having contents corresponding to each of the three components. .

  The indicator lamp 9 notifies that the robot apparatus 4 can be manually operated. The indicator lamp 9 is lit when the enable switch 10 is in the pressed position, and notifies (displays) that the robot apparatus 4 can be manually operated. At this time, the operator confirms that the indicator lamp 9 is lit, recognizes that the robot device 4 can be manually operated by the operation lever 8, and then manually operates the robot device 4 by the operation lever 8. Can do.

  When the operator releases the enable switch 10 and the enable switch 10 moves to the non-pressed position, or when the operator further presses the enable switch 10 and the enable switch 10 moves to the pushed position, the robot The device 4 cannot be manually operated. At this time, the indicator lamp 9 is turned off, and notification (display) is made that manual operation of the robot apparatus 4 is impossible. Even when the enable switch 10 is removed from the intermediate position due to the force not intended by the operator, the operator can recognize that the manual operation is impossible by turning off the indicator light 9. .

  Further, for example, when the robot apparatus 4 does not accept manual operation by the operation apparatus 6 such as during automatic driving, the robot apparatus 4 can be operated manually even if the operator presses the enable switch 10 to move to the intermediate position. Not possible. In this case, even if the enable switch 10 is at the intermediate position, the indicator lamp 9 is not lit. The operator can recognize that the robot apparatus 4 is in a state where manual operation is not possible because the indicator light 9 is not lit.

  As shown in FIGS. 3 and 4, the robot device 4 is a power assist device when the operator carries the workpiece 101. Therefore, the operator can move the workpiece 101 gripped by the tool 5 to an arbitrary position in an arbitrary posture by operating the enable switch 10 or the operating lever 8 of the operating device 6. The tool 5 and the actuators 4 a to 4 f (see FIG. 5) of the robot apparatus 4 are driven under the control of the controller 3.

  The robot control device according to the present embodiment includes a controller 3 and an operation device 6 connected to the controller 3.

  Next, the electrical configuration of the robot control apparatus of this embodiment will be described. FIG. 5 is a block diagram showing a schematic electrical configuration of the robot control apparatus of FIG.

  First, when expressed in terms of functional blocks, the controller 3 outputs respective outputs of the force three components (Fx, Fy, Fz) and the moment three components (θx, θy, θz) of the force sensor 8a to their initial values (operations). It has a function of correcting the zero point by subtracting the output of the force sensor 8a when the lever 8 is at the origin. Thereby, the operation amount (force 3 component, moment 3 component) applied by the operator to the force sensor 8a is obtained.

  Further, the controller 3 receives the operation amount (force 3 component, moment 3 component) applied by the operator to the force sensor 8a from the operator of the operation lever 8 from the coordinate system with the position of the force sensor 8a as the origin. The coordinate system has a function of performing coordinate conversion processing with the position where the operating force is received as the origin. As a result, a force three component (Fx, Fy, Fz) and a moment three component (Mx, My, Mz) of the operation amount applied by the operator to the operation lever 8 are obtained.

  Further, the controller 3 operates the force 3 component (Fx, Fy, Fz) and the moment 3 component (Mx, My, Mz) of the operation amount applied to the operation lever 8 from the operator from the operator of the operation lever 8. It has a function of performing coordinate conversion processing from a coordinate system having the position where force is received as the origin to a coordinate system having the tool center point (TCP) of the tool 5 as the origin. Thereby, the moving speed (x, y, z, θx, θy, θz) of the tool center point corresponding to the operation amount of the operation lever 8 by the operator is obtained. This coordinate conversion is performed with reference to characteristic data of the moving speed of the tool center point of the tool 5 with respect to the operation amount of the operation lever 8 stored in a memory (not shown) of the controller 3.

  Further, the controller 3 moves each rotary actuator 4a of the manipulator 1 so that the tool center point moves at a moving speed (x, y, z, θx, θy, θz) corresponding to the operation amount of the operating lever 8 by the operator. Drive signals for the respective rotary actuators 4 a to 4 f for driving ˜4 f are generated and output to the robot apparatus 4.

Characteristic data of the moving speed of the tool center point of the tool 5 with respect to the operation amount of the operation lever 8 is, for example, can be good urchin Defining shown to Reference example illustration of FIG. Although FIG. 6 shows one component, characteristic data can be defined for each of the three force components and the three moment components as shown in FIG.

In FIG. 6, the operation amount from the origin of the operation lever 8 is taken on the horizontal axis, and the moving speed of the tool center point is taken on the vertical axis, showing the contents of the characteristic data. The characteristic data shown in FIG. 6 may be defined using a polynomial function including a power over the entire range of the operation amount from the origin of the operation lever 8 (each on the plus side minus side). In this case, for example, the exponential function of the third power shown by the broken line is smaller than the exponential function of the square shown by the solid line in FIG. The degree of change in the movement speed of the tool center point with respect to the change in the operation amount of the operation lever 8 can be greatly changed. In FIG. 6, the characteristic data is defined using a curve of a polynomial function including a power. However, the characteristic data is expressed by a curve of a power function, a polynomial function or an exponential function, a Bezier curve, a sine curve, or the like. May be defined.

Figure 7 is an explanatory diagram showing the contents of the characteristic data of the present embodiment which is defined using a curve as described above, Ru stored in a memory (not shown) of the controller 3. This characteristic data indicates that the operation amount from the origin of the operation lever 8 is a range from 0 to a1 (0 to -a1) on the plus side and the minus side of the operation amount with respect to the origin of the operation lever 8, a1 to a2 ( -A1 to -a2) range, a2 to 1 (-a2 to -1) range (however, 0 <a1 <a2 <1, -1 <-a2 <-a1 <0) Can be divided.

  Among these, in the range where the operation amount from the origin of the operation lever 8 is the smallest (operation amount = 0 to ± a1), the change amount of the moving speed of the tool center point relative to the change amount of the operation of the operation lever 8 is relatively the largest. small. Next, in the range where the operation amount from the origin of the operation lever 8 is medium (operation amount = ± a1 to ± a2), the change amount of the moving speed of the tool center point relative to the operation change amount of the operation lever 8 is relative. Is the largest. Finally, in the range where the operation amount from the origin of the operation lever 8 is the largest (operation amount = ± a2 ± 1), the change amount of the moving speed of the tool center point relative to the change amount of the operation of the operation lever 8 is relatively. Moderate. In the range where the operation amount from the origin of the operation lever 8 is the largest (operation amount = ± a2 ± 1), the change in the movement speed of the tool center point increases as the operation change amount of the operation lever 8 increases. The amount gradually decreases. In the other two ranges (operation amount = 0 to ± a1, ± a1 to ± a2), the change amount of the moving speed of the tool center point gradually increases as the change amount of the operation of the operation lever 8 increases. .

  Therefore, in the range where the operation amount from the origin of the operation lever 8 is the smallest (operation amount = 0 to ± a1), even if the operator changes the operation amount of the operation lever 8, the moving speed of the tool center point changes much. do not do. It should be noted that, even when the operation lever 8 is operated near the origin and when the operation lever 8 is operated away from the origin, the latter changes in the movement speed of the tool center point even if the operation change amount is the same. The amount increases.

  In the range where the operation amount from the origin of the operation lever 8 is medium (operation amount = ± a1 to ± a2), when the operator changes the operation amount of the operation lever 8, the moving speed of the tool center point increases. Change. Even when the operation lever 8 is operated close to ± a1, which is the minimum value of the range, and when the operation lever 8 is operated close to ± a2, which is the maximum value of the range, even if the operation change amount is the same. The latter increases the amount of change in the movement speed of the tool center point.

Further, in the range where the operation amount from the origin of the operation lever 8 is the largest (operation amount = ± a2 ± 1), even if the operator changes the operation amount of the operation lever 8, the moving speed of the tool center point is It doesn't change much at high speed. However, even when the operation lever 8 is operated near ± a2, which is the minimum value of the range, and when the operation lever 8 is operated near ± 1 , which is the maximum value of the range, even if the operation change amount is the same. The former increases the amount of change in the movement speed of the tool center point.

  In the characteristic data shown in FIG. 7, the portion where the operation amount from the origin of the operation lever 8 is 0 to ± a1, the portion where ± a1 is ± a2, the portion where ± a2 is ± 1 is ± the vertical axis. The relationship with the horizontal axis is defined by a curve. In addition, the curve which defines the characteristic of each range is selected so that each characteristic may connect smoothly in the boundary of each range of the operation amount from the origin of the operation lever 8. FIG.

  According to the characteristic data shown in FIG. 7, in the range where the operation amount from the origin of the operation lever 8 is the smallest (operation amount = 0 to ± a1), the movement speed of the tool 5 is set to the low movement speed of the tool center point. Fine adjustment can be facilitated. On the other hand, in the range where the operation amount from the origin of the operation lever 8 exceeds the smallest range (operation amount = ± a1 ± 1), the tool 5 is moved roughly with the moving speed of the tool center point being high. Can do. For this reason, the operation range of the operation lever 8 at which the tool center point (tool 5) moves at high speed can be expanded, and the tools 5 to 101 can be easily moved roughly.

Thus, in the characteristic data shown in FIG. 7, the curve characteristic is selected for the range where the operation amount from the origin of the operation lever 8 is the largest (operation amount = ± a2 ± 1), and the medium range ( Smoothly connected with the characteristics of operation amount = ± a1 ±± a2). In the reference example of the characteristic data shown in the explanatory diagram of FIG. 8, the operation amount of the operation lever 8 changes in the range where the operation amount from the origin of the operation lever 8 is the largest (operation amount = ± a2 ± 1). Even so, the movement speed of the tool center point is fixed at the maximum speed . With such characteristic data , the operating range of the operating lever 8 where the tool center point (tool 5) moves at high speed can be expanded to facilitate the rough movement of the tool 5 to the workpiece 101. In addition, since the tool center point (tool 5) moves at the maximum speed without strictly operating the operation lever 8 to the maximum operation amount, the rough movement of the tool 5 to the workpiece 101 can be performed roughly. Can be done with.

  Thus, according to the present embodiment, when the operator operates the operation lever 8 of the operation device 6 (parallel movement, tilting, rotation) to move the tool center point, the operation lever 8 is operated near the origin. Then, the tool center point can be moved at a low speed and the moving speed of the tool center point can be finely adjusted by operating the operation lever 8. Further, if the operation lever 8 is operated away from the origin, the tool center point can be moved at high speed. For this reason, the work 101 gripped by the tool 5 can be moved roughly or finely as necessary.

  That is, according to the present embodiment, when the operation amount (parallel movement amount, tilt amount, rotation amount) from the origin of the operation lever 8 is changed, the change amount of the moving speed of the tool center point with respect to the operation amount of the operation lever 8 is changed. change. That is, the resolution of the moving speed of the tool center point due to the operation of the operation lever 8 changes. Therefore, the resolution of the moving speed of the tool center point is easily changed by adjusting the operation amount from the origin of the operating lever 8, and the moving speed of the tool center point is adjusted with good operability by operating the operating lever 8 according to the situation. can do.

  The operation element is not limited to the operation lever 8 using a joystick as described in the present embodiment. In other words, any robot other than an operation lever such as a joystick may be used as long as it can input a number of movements according to the degree of freedom of the manipulator in the target robot that moves the tool center point by operating the operator. .

  Moreover, the form of the workpiece | work 101 and the tool 5 is not limited to what was shown by embodiment mentioned above, It is arbitrary. For example, the present invention can be widely applied to a case where the tool is a welding torch and the welding torch is moved to a target welding location by operating the operator.

  Furthermore, in this embodiment, the case where the present invention is applied when controlling the driving of the robot apparatus 4 used as a power assist apparatus that assists the movement of the workpiece 101 has been described as an example. However, the present invention can be widely applied to drive control as long as it is a robot that grips a workpiece with a tool and moves by operating an operator other than a robot used as a power assist device. For example, the present invention can also be applied to control of a robot that simply conveys a workpiece, and control of a robot that applies a workpiece to a sander (grinding stone) for polishing and processing. That is, the present invention can be applied to control of all robots that carry out work for carrying workpieces.

DESCRIPTION OF SYMBOLS 1 Manipulator 3 Controller 4 Robot apparatus 4a Rotary actuator 4b Rotary actuator 4c Rotary actuator 4d Rotary actuator 4e Rotary actuator 4f Rotary actuator 5 Tool 6 Operating device 7 Fixed lever 8 Operating lever (operator)
8a Force sensor 9 Indicator light 10 Enable switch 11 Emergency stop switch 101 Workpiece

Claims (3)

In the robot control device that outputs a drive signal for moving the tool center point to the robot in accordance with the operation of the operator,
Characteristic data holding means for holding characteristic data indicating the characteristic of the moving speed of the tool center point with respect to the operation amount from the origin of the operator;
The robot is driven so that the tool center point moves at the moving speed corresponding to the operation amount from the origin of the operating element indicated in the characteristic data, based on the content of the driving signal output when operating the operating element. Signal content determining means to be content to be
With
Of the range related to the operation amount from the origin of the operation element, the characteristic of the range portion excluding at least the maximum operation amount of the operation element is greater when the operation amount from the origin of the operation element is smaller than The change amount of the moving speed of the tool center point with respect to the change amount of the operation of the operation element is a relatively large characteristic,
And, the characteristic is a characteristic in which the maximum moving speed of the tool center point is assigned to each operation amount of the operation element exceeding the range portion,
And, in the characteristic, in the range where the operation amount from the origin is the smallest, the change amount of the movement speed of the tool center point relative to the operation change amount is relatively the smallest, and the operation amount from the origin is medium In this range, the amount of change in the movement speed of the tool center point relative to the amount of change in the operation is relatively largest, and in the range where the amount of operation from the origin is the largest, the change in the tool center point relative to the amount of change in the operation. It is a characteristic that the amount of change in moving speed is relatively moderate.
A robot controller characterized by that. The characteristic data holding means holds a plurality of the characteristic data corresponding to the characteristics of a plurality of patterns having different contents, or holds a characteristic formula obtained by parameterizing the characteristics as the characteristic data. Selecting the desired characteristic data from the characteristic data, or further selecting means for selecting a variable value to be substituted for the variable of the characteristic formula, wherein the signal content determination means is output when the operator is operated. The content of the drive signal to be expressed is expressed by the content corresponding to the characteristic indicated by the desired characteristic data selected by the selection unit, or the characteristic formula in which the variable value selected by the selection unit is substituted into a variable. The robot control apparatus according to claim 1, wherein the content corresponds to the characteristic. Robot control equipment according to claim 1 or 2, wherein said robot is a power assist device for assisting the movement of the workpiece.

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