METHOD AND DEVICE FOR ACCURATELY GUIDING MACHINING TOOL PROVIDED WITH ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a method for guiding a tool so that the pressing force of the tool to a work is made constant regardless of the position and the angle position in a space. SOLUTION: The angle position of the tool in the space is calculated by robot control via a separate robot program at the prescribed time interval, and the calculated angle position is transmitted to a control member as a command. The actual value of the control member is substituted with the command as the output value suitable for the angle position of the tool. The pressing force of the tool to the work is guided so that the tare weight of the tool is compensated over the whole machining process when the tool is pressed to the work.