solid works 6 dof robot arm

Hi every one

I designed industrial robot arm (6 dof) using solidworks premuim 2013 64bit

I am trying to simulate assembly task using AFC method (Active Force Control)

like this ABB am in this video

I know how to design path for robot but I need to modify this path in real time (AFC method)

so If any can help me????????

another question

can I program motion study (path planning) using MACRO or vbscript ??????

thank you all