抄録
We proposed that operations which need a constant pressing force can be performed by a general-purpose robot using a force-controlled end effector. The robot on the whole dose not need to be force-controlled, therefore a position/orientation controlled robot can be used. Drawing a line with a ball-point pen and grinding metal surface using an experimental end effector gave good results. This method can also solve the problem of collision between the object and tool at the beginning of the operation. Control characteristic will be improved if the update period of data transmitted to the programmable controller of AC servomotor is reduced.
