Robot control apparatus, robot, and robot system

A robot controlled by a robot control apparatus, the robot control including:

• a control unit;
• and
• a non-transitory computer readable storage medium storing thereon a computer program product executable by the control unit for controlling a robot, the computer program product including:
• a robot control part that controls a robot;
• and
• a force detection information acquisition part that acquires force detection information from a force detection unit, wherein
• the robot control part, identifies a control point corresponding to a predetermined position of the robot, designates a range of control values relative to the control point for operating a robot by force control based on the force detection information and operates the robot based on the control values and the designated range,
• the range is designated by threshold values with respect to each axis according to a coordinate system,
• the control values include a position of the control point of the robot,
• the coordinate system includes a taught point coordinate system indicating a position and an attitude with respect to each taught point with which the control point is allowed to coincide stored in advance, and
• first threshold values are designated as the threshold values with respect to each axis according to the taught point coordinate system.

A robot system, comprising:

• a robot control apparatus including:
• a control unit;
• and
• a non-transitory computer readable storage medium storing thereon a computer program product executable by the control unit for controlling a robot, the computer program product including:
• a robot control part that controls a robot;
• and
• a force detection information acquisition part that acquires force detection information from a force detection unit, wherein
• the robot control part, identifies a control point corresponding to a predetermined position of the robot, designates a range of control values relative to the control point for operating a robot by force control based on the force detection information and operates the robot based on the control values and the designated range,
• the range is designated by threshold values with respect to each axis according to a coordinate system,
• the control values include a position of the control point of the robot,
• the coordinate system includes a taught point coordinate system indicating a position and an attitude with respect to each taught point with which the control point is allowed to coincide stored in advance, and
• first threshold values are designated as the threshold values with respect to each axis according to the taught point coordinate system;
• and
• a robot controlled by the robot control apparatus.