Articulated robotic device and articulated robot control method

Abstract

An articulated robotic device includes a robotic hand device, an end effector device, an output section, and a controller. The robotic hand device includes arms coupled to each other. The end effector device is connected to the robotic hand device. The output section outputs a signal indicating a magnitude of an external force applied to the end effector device and a direction of the external force. The controller controls movement of the robotic hand device according to the magnitude and the direction of the external force. Moreover, the controller performs posture fixing control by controlling the movement of the robotic hand device so that a posture of the end effector device is fixed in a specific posture during direct teaching of the articulated robotic device by an operator.

Dependencies are inferred from the claim text.