| 摘要 |
PURPOSE:To improve the work precision by setting proper work coordinates in accordance with a certain work and controlling the position and the force simultaneously in the work space. CONSTITUTION:One face 1 as a work object exists in the work space, and a contact 2 is so controlled that it is moved along the (y) axis set on this face 1 while contacting with the face 1. An actuator 4 is controlled in the X-axis direction vertical to the face 1 by a force controller 7, and an actuator 6 is controlled in the y-axis direction by a position controller 8. By this control, the contact 2 is moved in the y-axis direction while being pressed to the face 1 with a proper force, and the position and the force are controlled simultaneously in the work space. |
