| 摘要 |
PROBLEM TO BE SOLVED: To enhance processing accuracy by means of a force control robot by letting no compliance with respect to processing load be effective in the specified direction as required. SOLUTION: With respect to processing load acting to a tool 10 at least in the two different directions, this force control robot is equipped with compliance elements 15 and 16 giving compliance to a tool holder in the different directions respectively, and a compliance effective/non-effective changing means 40a through 40d, 31a through 31d, 33a through 33d, and 36a through 36d, which change compliance with respect to processing load in a specified bi-directional way out of compliances in the respective directions, namely, from an effective condition to a non-effective condition, or from the non-effective condition to the effective condition.
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