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And a method for controlling the robot controller, the robot, as well as control program of the control unit of the robot
And a method for controlling the robot controller, the robot, as well as control program of the control unit of the robot
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机译:以及一种控制机器人控制器,机器人的方法以及机器人控制单元的控制程序
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摘要
(30) is based on the angle formed with the horizontal plane hand the vertical force and hand (3) an object (30) between the estimated carrying capacity estimating unit (14) the transport force is applied in the vertical direction (2) Human And then to perform the force control force in the vertical direction of the robot arm in the robot system (1) becomes a predetermined force based on the force that is estimated.
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