| 摘要 |
PROBLEM TO BE SOLVED: To provide a working force estimation method that can estimate working force at a robot tip without the arrangement of a force sensor in a production line. SOLUTION: The working force estimation method estimates working force at a robot tip operating to bring into contact a first part 7 held at the tip of a robot 6 and a second part 8 placed on a worktable 9. A force sensor arranged in advance under the worktable computes a measured value when the first part 7 held by the robot 6 and the second part 8 are brought into contact. A parameter that satisfies a linear relation between the measurement and a difference between a target command position and a feedback position of the robot 6 is extracted, and the parameter is stored in advance in a material characteristic storing means 2 for each material of the first part 7 and second part 8. In an automatic operation, the difference between the target command position and feedback position of the robot 6, and the parameter corresponding to the material of the first part 7 and second part 8 are read out from the material characteristic storing means 2, and working force at the robot tip is estimated.
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