PURPOSE: To determine the direction of force control that serves as an accurate direction of normal on the surface of a workpiece by storing position data consisting of pulse values of a pulse encoder during playback action and a unit vector component as force control direction data in a memory inside a control device, the unit vector component being opposite to the direction of reaction force detected by a force sensor.

CONSTITUTION: A robot main body 10 has a tool T1 which makes direct contact with an aluminum wheel 30 for deburring and for giving instructions, a tool holder 12 for gripping the tool T1, a servo motor M1 for rotating the tool T1, a servo motor M2 for twisting the tool T1, a servo motor M3 for curving the tool T1, a servo motor M4 for moving the tool T1 back and forth, a servo motor M5 for raising and lowering the tool T1, and a servo motor M6 for swinging the tool T1. A force sensor 11 for force control is mounted on the tool holder 12 and is attached to a robot hand 15 which is an end member of the robot main body 10.