| 摘要 |
When a variation (c) of load current supplied to a grinder is not more than a predetermined threshold value, a depth of cut, by which the grinder cuts into a work (a), is controlled according to the load current, and when a variation (c) of load current exceeds the predetermined threshold value, a speed of grinding of the grinder is controlled according to the load current. Further, in the case where a single robot performs a plurality of operations, a target position in the other operations is corrected by means of a positional correction value which is calculated in one operation. |
