2022 年 88 巻 913 号 p. 22-00091
In recent years, the development of technologies for "connected factories" based on the Internet of Things (IoT) has become important, and industrial robots are required to operate autonomously based on sensing technologies and their data. In this paper, we focused on the polishing work with a cooperative robot, and discussed a method to integrate the technology of the developed wireless vibration monitoring system with the internal information of the servo. In particular, we attempted to construct a novel finishing system that utilizes the internal information of the force sensor installed in the base of the cooperative robot not only to detect human contact but also to improve the accuracy of machining. We estimated the rough-endmilling state from the in-process monitoring the vibration with a wireless tool holder system and the internal information of the servo obtained during endmilling operation, and also integrated the finishing process using the newly developed system considering rough endmilling information with a cooperative robot.
