| 摘要 |
PURPOSE: To enable satisfactory finishing in a length even when an error exists in a shape by determining a force control directional position correction quantity by considering the size of a force control directional position correction vector of the last time control period in a deburring robot to perform force control finishing on a design window of an aluminium wheel. CONSTITUTION: When a chamfer is performed by removing a burr generated in an inner peripheral part of a window part 33 of an aluminium wheel (a work) 30 by using an instructing regenerating type force control robot device composed of a robot main body 10 having a force sensor 11 in a wrist part in which a tool T1 is installed and a robot control device 20 to instruct and regenerate this, first of all, a passing point of the tool T1 to the work 30 and the force control direction of the passing point are instructed. Afterwards, a position is controlled in the feeding direction of the tool T1, and regeneration is performed in the force control direction under force control, and finishing work is performed. In this case, a force control directional position correction quantity is found by adding a force directional position correction increasing quantity of a this time control period to the size of a force control directional position correction vector of the last time control period. |
