| 摘要 |
PROBLEM TO BE SOLVED: To always secure a homogeneous job of an industrial robot without performing any job test nor control of the fluid supply pressure by controlling the moving speed of a coating machine based on the measured flow rate of fluid. SOLUTION: This system consists of a manipulator 1, a controller 2, a coating gun 3 and a coating material supply device 6. The manipulator 1 includes the bases 7 and 8, the arms 9 and 10, and a wrist part 11 and decides the position and attitude of the gun 3 by controlling the anglesθ1 toθ6 of revolute joints which connects together those bases, arms and wrist part. The controller 2 detects the information showing the anglesθ1 toθ6 of the manipulator 1 via the cables 12 and 13 and monitors the positions and attitudes of the gun 3, etc. The controller 2 also monitors the mass and the flow rate of the coating material which are measured by a flow meter 4 via a cable 14. Then the controller 2 controls the manipulator 1 based on those monitoring results.
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