The extensibility and flexibility of the industrial robot system can be improved by installing external PC which generates the trajectory based on external sensor such as force sensor. We have already built a "High-precision finishing system" which has an external controller. By using external PC, the force control can be realized. Thus the system can supersede manual labor which cannot be done by conventional robot system. To enhance the performance; speed and accuracy, it is necessary to design the controller considering system dynamics. In this paper, we identify system model of the "High-precision finishing system" and verify the some major control method using identified feature.
