To provide a trajectory tracking system and method of a machining robot, capable of high-accuracy machining at a speed higher than a conventional machining speed using copying control or power control, without causing tracking delay of a robot arm.
The trajectory tracking system of the machining robot is configured: to generate trajectory data from a CAD model of a workpiece to be stored in a storage device (A); to copy the workpiece before machining along the trajectory data at a copying speed lower than the machining speed without machining the workpiece, and correct the trajectory data from its operation position to set a target trajectory (B); to control the position of a machining tool, on the basis of the target trajectory, at the machining speed without coming in contact with the workpiece, and repeat learning for correcting the trajectory data to be stored as target trajectory data for use in machining (C); and to machine the workpiece while controlling the position of the machining tool at the machining speed on the basis of the learned trajectory data (D).
SONEHARA MITSUHARU
MURAKAMI HIROKI
| JP2004322224A | 2004-11-18 | |||
| JPH06102924A | 1994-04-15 | |||
| JPH04148308A | 1992-05-21 | |||
| JP2852828B2 | 1999-02-03 |
Toshihiro Nomura
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