Abstract
In the finish processing of limited production of diversified products, it is expected that development of bilateral control robot that realize finish machining complex shapes. However, if we apply a bilateral control system, it is very difficult work because worker must move while being constantly in contact with the slave tool. So, in this paper, we propose a method to show the shape of the work piece from the estimated curvature. Then we propose a method to show the shape of the work piece from the estimated curvature. And we build a support system for processing adapted proposed method. The system is consisted of a 6-DOF parallel haptic device as a master robot and 4-DOF parallel robot as a slave robot. The effectiveness of the proposed method is shown through an experiment.
