ROBOT FORCE CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To provide a robot force control method capable of performing a copying control for moving the arm of a robot along the surface of a pressed object without conducting a troublesome teaching operation. SOLUTION: In this force control method to control a pressing force when a pressed object is pressed by the tip of the arm of a robot, the position and attitude of the arm are calculated based on CL data used when the pressed object is machined by an NC machine tool to control so that the pressed object is pressed by the tip of the arm while the arm is moved along the surface of the pressed object.