| 摘要 |
<p>PURPOSE:To hold the press force of a tool for polishing at a specified value by providing a control means which sends a control signal to an actuator accord ing to a detecting signal from a number of revolutions detecting means so that a tool for polishing is moved forward and backward in the direction of the normal of a surface to be polished and makes the number of revolutions of the tool for polishing equal to the preset number of revolutions. CONSTITUTION:Based on a detecting signal from a number of revolutions detecting means 10, the number of revolutions of a tool 8 for polishing is com pared with the preset number of revolutions by a control means 11. According to s resultant comparing value, a control signal is sent to an actuator 12 for driving robot arms 14 and 15, the tool 8 for polishing is moved forward and backward in the direction of a normal, and control is made so that the number of revolutions of the tool 8 for polishing is adjusted to a value equal to a set value. This constitution always keeps the number of revolutions of the tool for polishing at a value equal to the set value, and holds the press force of the tool 8 for polishing against a surface to be polished at a specified value.</p> |
