Robot system

Abstract

The present invention provides a robot system that, when an external force is applied to a robot that is stopped, can suppress unintended movement of its moving parts while simultaneously moving the moving parts in response to the applied external force. [Solution] The robot system (1) comprises a robot (10) having an operating unit (11) and a control device (20). The control device comprises a stop control unit (230) that stops the operation of the operating unit based on an external force applied to the operating unit while it is in operation, and a direction determination unit (240) that determines the direction of movement of the operating unit based on an external force applied to the operating unit after it has stopped. The control device comprises a speed determination unit (250) that determines the speed of movement of the operating unit according to a coefficient that decreases with time elapsed since the operating unit stopped and the magnitude of the external force applied after the operating unit has stopped. The control device comprises a movement control unit (260) that moves the operating unit in the direction of movement and at the speed of movement.

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