MACHINING ROBOT AND MACHINING METHOD

A robot control system (3) according to an embodiment is a control system for a robot (2) comprising an arm (4), the arm (4) being capable of holding a tool (T) while rotating the tool (T) and capable of moving the tool (T) in at least two-dimensional directions, the arm (4) being equipped with a ro...

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Bibliographische Detailangaben
Hauptverfasser: ISHIKAWA, Yuichi, WATANABE, Masao, MATSUO, Shinya, NAKAHATA, Tatsuo, RIHEI, Atsushi, NISHIWAKI, Yasuto
Format: Patent
Sprache:eng ; fre ; ger
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Zusammenfassung:A robot control system (3) according to an embodiment is a control system for a robot (2) comprising an arm (4), the arm (4) being capable of holding a tool (T) while rotating the tool (T) and capable of moving the tool (T) in at least two-dimensional directions, the arm (4) being equipped with a rotating mechanism (7) provided for the tool (T). The robot control system (3) comprises a load-acquiring unit (13) and a control-signal-generating unit (14). The load-acquiring unit (13) is configured to acquire a force measured by a force sensor (9) configured to measure a force applied from the tool (T) to the arm (4) during profile copying performed on a machining object (W) by moving the arm (4) while a copying guide attached to the arm (4) and a copying mold placed on the machining object (W) are kept in contact with each other. The control-signal-generating unit (14) is configured to automatically control the arm (4) by generating a control signal for the arm (4) in accordance with the force acquired by the load-acquiring unit (13) and with control information for the arm (4) regarding the profile copying, and by outputting the control signal to the arm (4).