Robot controller which conducts a force control by using a three-axial force sensor

A robot controller which moves either a tool or a workpiece relative to the other one of them by a hand unit of the robot to control the force acting between said tool and said workpiece, comprising:

• a force detector unit for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with said one axis and are, further, at right angles with each other;
• a force-presuming point setting unit for setting a force-presuming point at where a force acting between said tool and said workpiece is presumed;
• and
• a force-presuming unit for presuming forces in said two axial directions and a moment about said one axis based upon the force in said one axial direction and the moments about the axes in said two axial directions detected by said force detector unit, and upon the position of said force-presuming point set by said force-presuming point setting unit.