PURPOSE:To short-circuit a control sampling period by providing plural pieces of arithmetic means for calculating a driving speed of each joint from a force moment applied to the top of an arm at a prescribed sampling time. CONSTITUTION:A force sensor 2 is provided on a wrist part of an articulated arm type robot 1, the robot 1 is connected to a controller 3 and a calculation processor 20, and its operation is brought to a force feedback control. Said control 3 and calculation processor 20 are constituted by containing a sensor circuit 4 connected to the force sensor 2, and a servo-circuit 5, and containing three pieces of processors 21-23, an A-D converter 24, an interface circuit 25, and a common memory 26, respectively. In such a state, a force moment of the tip of the robot, which is detected is inputted to the sensor circuit 4, and by executing a calculation required for a pipeline expression by the calculation processor 20 having three pieces of processors 21-23 through the A/D converter 24, a joint driving speed is derived and controlled.
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