| 摘要 |
A method for adjusting a control parameter of a robot (20) comprising, inserting step for inserting a part (P) into a hole (H) where a plurality of sections has been set in a depth direction by a robot (20), the robot having a force sensor (FS) that detects force applied from outside according to impedance control; and parameter updating step for lowering a viscosity parameter of one of the plurality of sections so as not to make the same section a target to be updated continuously, wherein the method adjusts the viscosity parameter of each section. |
