COMPLIANCE CONTROL METHOD FOR ROBOT

PURPOSE:To control optional machine compliance by compensating a gyro effect generated when a rotary body is arranged in a finger effector by reflecting it on a motion control method of a robot in a multidegree of freedom robot having a means to detect speed and external force. CONSTITUTION:In a multidegree of freedom articulated type robot 2, a sensor 1 is arranged in a wrist part so as to detect multidegree of freedom force and torque respectively. In this case, for example, a grinder 3 as a rotary body is arranged in a finger effector of the robot 2. On the other hand, a sensor is arranged on respective joints of the robot 2 so as to detect a turning angle or a turning angular velocity. The robot 2 is controlled by a control device 4, and optional machine compliance is given to the finger effector. That is, a gyro effect generated when the rotary body is arranged in the finger effector of the robot 2 is compensated by reflecting it on a motion control method of the robot 2. External force acting on the finger effector is estimated with high accuracy by removing the gyro effect.