多種材料適応を想定した除去加工ロボットによる手先反力フィードバック制御動作

抄録

The occurrence of convex defects on the surface of the product during casting is unpreventable. The aim of this paper is to propose a robot manipulation algorithm with a feedback control system, for an automatic removal processing of convex defects instead of manually, which consists of tool tip reaction force and position feedback control. Removal experiments were carried out to identify the appropriate value of each of the parameters used in the proposed feedback control system. It is shown that better removal time and high-quality surface can be achieved by applying the proposed feedback control in the removal process of convex defects, comparing with the non-control method. Besides, sufficient machining performance obtained from the removal processing experiment of convex defect with different shape proves that the proposed method is effective on convex defects with unknown shape.