| abstract |
Provided is a technique capable of controlling a manipulator based on a force acting on an appropriate position. A robot control apparatus according to the present invention is a robot control apparatus that controls a robot including a manipulator, a drive unit that drives the manipulator, and a force detector, and the drive unit according to a control parameter. A drive control unit that performs force control for controlling the control parameter, a reception unit that receives input of the control parameter, and an output waveform of the force detector that is obtained according to driving of the drive unit by the control parameter, and the control parameter And a display unit for displaying at the same time. [Selection] Figure 7 |