Robot system and robot control device

A robot control device comprising:

• a recording processing unit configured to store a first reference load profile in a storage unit;
• and
• a determination unit configured to determine at least a presence or absence of an external force acting on a robot based on the first reference load profile and a load acting on the robot and detected by a sensor,
• wherein the recording processing unit stores, in the storage unit, the load as a second reference load profile according to a state of the external force.

A robot control device comprising:

• a recording processing unit configured to store a first reference load profile in a storage unit;
• and
• a determination unit configured to determine a magnitude of an external force acting on a robot based on the first reference load profile and a load acting on the robot and detected by a sensor,
• wherein the recording processing unit stores, in the storage unit, the load as a second reference load profile according to an external force determination result.

A robot control device comprising:

• at least one memory;
• and
• at least one processor,
• wherein the at least one memory stores a first reference load profile, and
• the at least one processor is configured to
• acquire a load acting on a robot and detected by a sensor,
• determine a magnitude of an external force acting on the robot based on the first reference load profile and the load, and
• store, in the at least one memory, the load as a second reference load profile according to an external force determination result.