TEACHING DEVICE FOR ROBOT

PURPOSE:To prevent an obstacle from being damaged in a teaching operation of a robot, capable of controlling force, by jog operation. CONSTITUTION:A teaching device for robot capable of making position and attitude control and force control is provided with a force sensing sensor which is located at the hand of a robot and detects a reaction, an operation means to give jog operation instructions, a control means 132 to jog-operate the robot according to the operating conditions of the operation means, and a judgment means 126 which inputs 118 a signal output from the force sensing sensor during jog operation and judge whether or not each reactive component exceeds a specified preset value. Also, an operational direction limit means 141 to prohibit the jog operation in its direction while, irrespective of the operating conditions of the operation means, the reaction is judged to exceed the specified limit by the judgment means is provided.