| 摘要 |
<p>A controller, for force-controlling a drive source (14) of a controlled object (1), having a position control circuit (8) inside a force control circuit (7) in order to define a relative position of the controlled object (1) to a workpiece (25), and a contact force occurred between the workpiece (25) and the controlled object (1), the controller including a first data acquiring portion (11) for acquiring a time constant of the position control circuit (8) based on a position command value to the drive source (14) and an actual position value, during operations of the controlled object (1); a second data acquiring portion (12) for acquiring a rigidity value for the controlled object (1) and the workpiece (25) based on a force data obtained when the controlled object (1) is brought into contact with the workpiece (25); and an automatic gain calculating portion (10) for calculating a force control gain of the force control circuit (7) from the time constant of the position control circuit (8) acquired by the first data acquiring portion (11) and the rigidity value acquired by the second data acquiring portion (12), under conditions where a time constant of the force control circuit (8) is larger than the time constant of the position control circuit (8).
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