Method Of Adjusting Force Control Parameter

A method of adjusting a force control parameter of adjusting a force control parameter of a robot having a robot arm driven by force control and performing work, comprising:

• a first step of moving the robot arm based on first information on work start position and orientation of the robot arm and a candidate value of the force control parameter, and acquiring second information on a working time taken for the work and third information on a force applied to the robot arm during the work;
• and
• a second step of acquiring an updated value obtained by updating of the candidate value of the force control parameter based on the acquired second information and third information, wherein
• the first step and the second step are repeatedly performed with noise added to the first information until the acquired working time or force applied to the robot arm converges, and a final value of the force control parameter is obtained.