| 摘要 |
PURPOSE:To perform a teaching operation smoothly and easily, by fitting a die polishing tool equipped with a force sensitive sensor to a robot arm and performing a direct teaching with the die polishing tool being moved freely to a die face with the wrist operation manually for the force sensitive sensor. CONSTITUTION:A tool 10 approached to a free curved face by a teaching box TB detects a pressurizing force and the inclination in the aslope line direction by the force sensitive sensor SD which receives the repulsive force of a spring 20 with its abutment on a die face while a freely oscillating probe at the tip and a grindstone function 10a are rotated. The detection information by the manual operation of the grindstone of the force sensitive sensor SD is input to a personal computer CPU, the posture control of the tool 10 in the direction denying moments MX, MY, MZ outputs for a robot controller RC is performed in the case of 'posture control' and the positional control of the tool 10 in the direction denying pressurizing forces FX, FY, FZ is performed in the case of positional movement control. |
