| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an automatic finishing apparatus capable of saving on-site teaching time for a robot, deskilling, and of accurate and stable automatic finishing, and to provide its control method. Ž<P>SOLUTION: The automatic finishing apparatus for finishing a workpiece W with a robot 11 using a tool 14 is controlled in individual processes for model introduction, data acquisition, calculation, error derivation, correction, and machining. The model introduction process captures data on a workpiece shape (a three-dimensional model) before finishing, the data acquisition process acquires measurement data by bringing the tool in contact with the workpiece W before finishing, and the calculation process calculates actual position data on a comparison point S from the measurement data. The error derivation process obtains a data error between the calculated actual position data and the position data on the comparison point S of the three-dimensional model, and the correction process corrects teaching data for specifying a tool position corresponding to shape data of the three-dimensional model from the data error. The machining process controls the robot 11 to execute finishing according to the corrected teaching data. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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