| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot system wherein a structure for positioning a cutting tool to a rotary shaft is not needed and wherein deterioration of machining accuracy can be suppressed even while correction of teaching data is not needed when changing the cutting tool. Ž<P>SOLUTION: A deburring system 1 has: a robot 5 having the shaft end of a multi-shaft arm, configured as a rotary shaft or added with the rotary shaft, having a cutter blade unit 14 machining a work detachably supported in the rotary shaft, and performing attitude control of the cutter blade unit 14 according to the previously taught teaching data; and a detection unit 21 detecting an offset amount Δθ between a position around the rotary shaft of a cutter blade 25 of the cutter blade unit 14, and a reference position θs around the rotary shaft in the teaching data. In the deburring system 1, based on the offset amount Δθ, the position of the cutter blade 25 of the cutter blade unit 14 is corrected around the rotary shaft. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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