| 摘要 |
PURPOSE: To perform grinding work with formability automatically with high accuracy without making a device complicated, and perform plural unsimilar work efficiently by one robot. CONSTITUTION: When the variation (c) of a load current fed to a grinder is the specified threshold value or less, the depth-of-cut quantity of the grinder to a workpiece (a) is controlled according to the load current, and when the variation of the load current exceeds the specified threshold value, the grinding speed of the grinder is controlled according to the load current. In the case of performing plural work by one robot, the position correction value calculated in one work is used to correct a target position in other work. |
