| 摘要 |
PROBLEM TO BE SOLVED: To provide a gravity compensating method capable of highly accurate processing control by reducing influence of Coriolis force by a linearity error of a force sensor, the other shaft sensitivity error and rotation of a rotary tool even if an attitude of the tool is changed in processing, by processing the workpiece while pressing the tool to the workpiece. SOLUTION: This processing robot includes the tool having the force sensor for measuring external force and processing the workpiece, a robot arm capable of moving the tool in a position and an attitude in a three-dimensional space and a robot control device for storing processing data and controlling the robot arm. Before processing the workpiece, the tool is operated in a feed speed and an attitude in processing along a processing orbit without contacting the tool and the workpiece, and a measured value of the force sensor in its case is stored as an offset value. Then, when processing the workpiece, the offset value in the same feed speed and attitude on the processing orbit is subtracted from the measured value of the force sensor in the processing, and processing reaction is calculated, and the processing is performed by following the workpiece while controlling pressing force of the tool by using this processing reaction. COPYRIGHT: (C)2011,JPO&INPIT |
