| 摘要 |
PURPOSE:To make tracing motions accurately with a constant pressing force by measuring the surface shape of an object with No.1 arm which goes precedingly, and conducting actual works with No.2 arm going subsequently on the basis of the result from measurement. CONSTITUTION:An arm 9a for measuring the shape traces the surface of an object M while setting the tracing coordinate system with a contacting point 0 of a probe 18 with the object M, while another arm 9b for regular motions applies various works to the surface of object M using a variety of working tools mounted on a hand tip effect apparatus 19. A control command producing part 3 senses the contacting force produced at the positions with arms 9a, 9b and between the tip of robot and object M, and gives the position command X, force command F, and control parameters to position control parts 5a, 5b and force control parts 7a, 7b in conformity to the working sequence, current position, and contacting force specified by the operator. Thereby the tip of arm can be pressed to the object accurately with a preset pressure. |
