Abstract: A robot system includes a robot including rotary joints to be rotated and driven about axes by a motor, and a control device that controls the motor based on external force torque about the axes that acts on each of the respective rotary joints, a force point to apply external force is preset to the robot, and the control device calculates distances from the axes of the rotary joints to the force point based on angles of the rotary joints of the robot, and adjusts and increases an operation amount to the motor as the calculated distances decrease.

Abstract: A robot controller includes a storage unit that stores load information including a mass and a center of gravity position of a load to be attached to a robot; a lead-through control unit that controls the robot comprising a sensor that detects an external force, based on the external force detected by the sensor and the load information stored in the storage unit; and a load suitability determining unit that determines whether or not the load information stored in the storage unit is suitable. In response to the load suitability determining unit determining that the load information has a possibility of being unsuitable, the lead-through control unit performs a restriction on a movement of the robot.

Abstract: A robot system includes a robot including rotary joints to be rotated and driven about axes by a motor, and a control device that controls the motor based on external force torque about the axes that acts on each of the respective rotary joints, a force point to apply external force is preset to the robot, and the control device calculates distances from the axes of the rotary joints to the force point based on angles of the rotary joints of the robot, and adjusts and increases an operation amount to the motor as the calculated distances decrease.