2011 年 77 巻 780 号 p. 3058-3068
For high-variety low-volume manufacturing, parts are processed by the handwork because of the problem of the production cost. However, when a precise finishing process is required, the process by handwork has the problems not only a processing error occurs but also required processing accuracy cannot be secured. To clear up this problem, we develop the fixture robot with parallel mechanism and propose assist control for accurate finishing process considering a material removal rate (MRR). We realized high accurate finishing process by means of controlling pressed force and feed speed to keep MRR constant. In the end, the effectiveness of proposed method is shown by the experiment and user's test.