PURPOSE: To execute operation such as grinding continuously and smoothly even at the place of a corner portion by making a constitution in which when the force of the movement direction of a work tool is larger than a set value, it is decided that the tool is at the corner portion, and the pressing direction and the movement direction of the work tool are changed.
CONSTITUTION: During the grinding operation of a hand effect tool 9 at a surface 32, the force decision portion 25 of a control condition change portion 24 detects at the output of a force operation portion 15 force generated in the x-axis direction which is a hand effect tool 9 delivery direction, and watches whether or not the force of the delivery direction has become larger than a set value. And, when the vibration tool 9a of the hand effect tool 9 hits a surface 33, force along the x-axis direction which is the delivery direction, becomes larger than the set value, and the 2nd control condition under which the hand effect tool 9 grinds the surface 33, is set. And, the pressing direction and the delivery direction are changed, and the x-axis direction is made to be the pressing direction and a z-axis direction is made to be the delivery direction, and movement is made as the surface 33 is being made to be ground.
KURENUMA TOORU
TSUTSUI SHINSAKU
YAMADA KAZUNORI
