Robot controller having function for displaying robot and force

A robot controller configured to control a motion of a robot gripping a workpiece to be processed so that the workpiece is moved relative to a work tool, and to carry out a predetermined operation, the robot controller comprising:

• a force detecting part configured to detect a force acting between the work tool and the workpiece;
• and
• a displaying part configured to display simulated images or a video of the robot, the work tool and the workpiece,
• wherein positions of working points on a surface of the workpiece, where the force by the work tool is applied, are calculated based on a coordinate system defined with respect to the robot, a coordinate system defined with respect to the workpiece, and a coordinate system defined with respect to the work tool,
• wherein the displaying part is configured to display a trajectory of the working points as points on the coordinate system defined with respect to the workpiece,
• wherein the force detecting part is configured to detect the force applied to each working point when the work tool passes through the working point on the trajectory, and
• wherein the displaying part is configured to display the detected force as a line segment or a line segment-like shape, an origin of which corresponds to the working point or a point in the vicinity of the working point.