Patent attributes
The control device for controlling a robot having a force detector includes an input device, a display, a memory, and a processor. The processor executes a program to repeat receiving of an input via the input device, selecting of an object of operation objects based on the input, and displaying of the selected object a predetermined number of times to complete an object operation flow. The processor converts the completed object operation flow into a control program for controlling the operations of the robot. The display displays a selection for selecting whether an integrator is applied to a difference between time series target force and time series measuring force for a specific control direction. The processor receives an adjusting input via the input device for adjusting an integral gain of the integrator when a result of the execution of the control program is in a predetermined condition.
