MACHINING ROBOT AND MACHINING METHOD

Title:

MACHINING ROBOT AND MACHINING METHOD

Document Type and Number:

WIPO Patent Application WO/2018/123251

Kind Code:

A1

Abstract:

A robot control system according to one embodiment is a control system for a robot which is provided with an arm to which a tool rotating mechanism is mounted, the arm being capable of rotatably holding a tool and moving the tool in at least two dimensions. This robot control system has a load acquisition unit and a control signal generation unit. The load acquisition unit acquires the force measured by a force sensor for measuring the force applied to the arm by the tool during the contour copy machining of a workpiece which is performed by moving the arm while bringing the copy guide mounted to the arm and the copy mold placed on the workpiece side into contact with each other. On the basis of the force acquired by the load acquisition unit and arm control information for contour copy machining, the control signal generation unit generates an arm control signal and outputs the arm control signal to the arm, thereby automatically controlling the arm.

Inventors:

MATSUO SHINYA (JP)
NAKAHATA TATSUO (JP)
ISHIKAWA YUICHI (JP)
RIHEI ATSUSHI (JP)
NISHIWAKI YASUTO (JP)
WATANABE MASAO (JP)

Application Number:

PCT/JP2017/039460

Publication Date:

July 05, 2018

Filing Date:

October 31, 2017

Export Citation:

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Assignee:

SUBARU CORP (JP)

International Classes:

B25J13/08

Foreign References:

JPH09155738A	1997-06-17
JP2002370116A	2002-12-24
JPH07132471A	1995-05-23
JP2013043232A	2013-03-04
JP2013244564A	2013-12-09
JPH1011125A	1998-01-16
JP2002370116A	2002-12-24
JP2012139789A	2012-07-26
JP2014040001A	2014-03-06
JP2011216050A	2011-10-27
JP2010253613A	2010-11-11

Other References: