FORCE CONTROL DEVICE

PROBLEM TO BE SOLVED: To shorten the operating time, and to shorten the startup adjusting time in a range to satisfy the constraint in which the acting force is equal to or smaller than the permissible value even when a robot is stopped when the acting force exceeds the constraint value.SOLUTION: A force control device includes a command generation means (10) for generating the target position command of a robot for an object, a robot control means (20) for performing the follow-up control according to the target position command, a force limit excess discriminating means (30) for generating the stop command when the acting force on the robot from an object exceeds the predetermined force limit value, and a speed optimization means (40) for calculating the optimum speed for maximizing the operating speed in a range for satisfying the constraint that the acting force is equal to or smaller than the predetermined permissible value during the deceleration stop based on the characteristic of the object and the predetermined force limit value taking into consideration the case that the robot is subjected to the deceleration stop. The command generation means (10) generates the target position command according to the optimum speed, and generates the command for executing the deceleration stop if the stop command is received.