力入力偏向係数を用いたバイラテラル制御による加工面形状に対する操作力呈示手法

抄録

Finishing processes are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker's skill. To solve this problem, a bilateral control system is applied to a machining support system. The aim of this research is to develop a machining support system via the bilateral control system which can accept various machining theories and to reflect the operation force into the machining geometry. This system has the construction which makes it possible to change the input force to the master and the slave robot based on symmetrical bilateral controller. This construction is useful to change the feature of the system according to the machining condition dynamically. At this time, the operation scale is changed according to the machining condition as well. They are performed based on the new arbitraliy valiable, FID coefficient defined by the authors in this research. The effect of this system is shown by simulations and experimental results.