Robot controller

A robot controller used for a processing work or an assembling work, which has a control system mode switching function, said robot controller comprising:

• approach motion means for preliminary setting an estimated contact surface which is the closest surface where a contact surface defining a restricted space and having a geometric error is expected to exist, and moving a workpiece or a predetermined portion of a processing or assembling machine to approach said estimated contact surface under a position control in the direction of at least two degrees of freedom;
• groping motion means for moving said workpiece or said predetermined portion of said processing or assembling machine under a position control in the direction of at least two degrees of freedom to approach an actual contact surface from said estimated surface reaching by said approach motion means at a preliminarily set approach speed equal to or less than a maximum collision speed;
• contact motion means for simultaneously carrying out a position control in the direction of at least one degree of freedom and a friction control in the direction of the same degree of freedom with respect to said contact surface reaching by the groping motion means;
• and
• leaving motion means for moving said workpiece on which at least a processing has been made by the contact motion means or said predetermined portion of said processing or assembling machine by which at least the processing has been made by the contact motion means to leave to a predetermined position under a position control in the direction of at least two degrees of freedom.