| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a machining robot system for machining a work while pushing a machining tool against it via a fluid pressure cylinder device, having improved machining quality and reliability preventing an overload. <P>SOLUTION: The machining robot system 102 includes a force sensor 90 detecting force and moment applied to the machining tool 92 supported by a robot hand 16, and a system control device 100 controlling a robot 14 and the fluid pressure cylinder device 22 in accordance with predetermined control parameters. The system control device calculates acting force acting between the machining tool and the work during copying work in accordance with detection data for the force sensor, and adjusts the target track and the target moving speed of the hand, and the target thrust of the fluid pressure cylinder device depending on the acting force. It also calculates cylinder influences given to the fluid pressure cylinder device by gravitational force and inertial force acting on an object to be displaced by the fluid pressure cylinder device, and adjusts the target thrust to compensate for the cylinder influences. <P>COPYRIGHT: (C)2011,JPO&INPIT |
