抄録
Recently, a lot of industrial robots are used in factories. But in spite of spread of industrial robots, finishing robots are not widely used. Because, force control robots are very difficult to set a parameter for pressing workpiece to tool with appropriate force. Moreover, it is necessary to set various parameters according to a process condition. And every time when the new polishing operation is executed, it is necessary to set new parameters. In this study, we aim to achieve the automatic setting system of the task parameter for polishing operation by robot arm. When robot arm executes the polishing operation, influential parameters are press power, grain size of grind stone and hardness of work. Therefore, to realize the automatic setting system of the task parameters, we considered relation between each parameter and final surface roughness.
