| 摘要 |
PURPOSE:To finish a work to be ground with good accuracy by furnishing a work sensing means to sense the form and attitude of the work, and providing an attitude producing means to produce the robot grinding attitude on the basis of the form/attitude data acquired by the sensing means. CONSTITUTION:A grinding attitude producing device is equipped with a work sensing means (6, 7) which senses the situation of a work to be ground 4 such as its form and attitude and an attitude production calculating means 10 which produces the robot grinding attitude on the basis of the data pertaining to the form and attitude acquired by the work sensing means (6, 7). Therein a work grinding means 3 includes a visual sensor 7 which is installed at the hand 2 of the grinding robot 1. This robot grinding attitude is equal to attitude of a grinding tool 3 of a grinding machine, etc. The grinding path instructed to the robot 1 is formed from a plurality of instruction points, and the grinding attitude is determined at each instruction point. |
