| 摘要 |
PURPOSE:To prevent formation of a linear level difference around the boundary of a grinder grinding area by controlling a force so that a target pressing force is reduced as the grinder installed in the point of a robot hand approaches closer to the boundary of the predetermined area in a work. CONSTITUTION:When a rectangular parallelepiped grinding area 12 on the surface of a work 20 is ground by a reciprocating grinder, a target pressing force for the grinder is varied according to the position of the grinder. In other words, a control signal, by which the target values for the force and the moment are varied according to the target values for the position and the attitude, is outputted. In the concrete, a target orbit is computed form the target values of the final position and attitude of the grinder, and an inverse coordinate transformation of the target position for each shaft is carried out on the basis of the target orbit, and then, a position feedback loop and a speed feedback loop are constructed so as to follow the target position of each shaft. Calculation for force control is carried out from an actual pressing force detected by a six-axial force sensor installed in the grinder and the target pressing force, and on the basis of this result, the target orbit is corrected. |
