| 摘要 |
PURPOSE:To efficiently grind off a welding bead in an arc brazing part. CONSTITUTION:In the case of grinding off a welding bead (b) divided into rough and finish grinding by a grinder 4 held by a force control robot of virtual compliance control system, a spring constant for determining rigidity of the robot itself is set at rough grinding time higher than at finish grinding time, to perform grinding. Similarly regardless of whether the grinding is rough or finish grinding, the spring constant at the time of grinding both end parts (e) of the welding bead (b) is set higher than at the time of grinding a general part P, to perform grinding. |
