抄録
Recently industrial robots are used for many purposes, especially as machining facilities. Many of grinding robots are controlled by using feedback of force. However, the force sensor used for force detection by means of strain gage will be damaged if a shock and big force should be applied. So, this laboratory has been researching with a method for grinding a target object into desired shape with force-sensorless feed-forward control. The dust made by grinding injures respiratory organs or eyes of worker. Therefore, this research aims to achieve construction of the robot system which can perform autonomously grinding. It is necessary to measure the unknown surface to decontaminate. This paper proposes a new recognition method to detect arbitrary shape using Bezier Curve and shows the result of grinding experiment using the method.
