Abstract
Most industrial robots use teaching/playback method based on the position/orientation of the robot end-effector. In order to realize the assembly task flexibly according to the contact force from the environment, force control methods have been studied. In this paper, we study control methods of direct teaching and playback of the robot arm during an insertion task. We compare the contact forces with the environment and the forces from the operator during teaching, and achieve a stable playback of the insertion task.
