Method of controlling a grinder robot
AssigneeKabushiki Kaisha Toshiba
InventorsMakoto Jinno, Takashi Yoshimi
Life of this patent
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Abstract
This invention is directed to a method of controlling a grinder robot wherein a grinder is mounted at a tip of a robot finger, and a grinding operation is performed in respect of a prescribed grinding region of a work while controlling the pressing force of the grinder. The force control is exercised such that the pressing force of the grinder is made smaller as the grinder approaches a vicinity of a boundary of the grinding region.
Claims19
A method for controlling a grinder robot, comprising the steps of:
- driving a grinder connected to said grinder robot;
- pressing said grinder against a grinding region of a work, said grinding region being a region to be ground by the grinder;
- and
- controlling a pressing force of said grinder to be reduced as said grinder approaches a vicinity of a boundary of said grinding region so that an inside of the boundary of said grinding region is tapered.
A method for controlling a grinder robot, comprising the steps of:
- driving a grinder connected to said grinder robot in a first direction;
- pressing said grinder against a grinding region of a work while driving the grinder in the first direction;
- lifting the grinder to not contact the work and moving the grinder in a second direction while the grinder is not contacting the work, so that the grinder is moved in a reciprocatory operation in the first and second directions;
- and
- altering distances that the grinder is moved in the first and second directions in a random manner with each reciprocatory operation.
A method for controlling a grinder robot, comprising the steps of:
- driving a grinder connected to said grinder robot in a first direction;
- pressing said grinder against a grinding region of a work while driving the grinder in the first direction;
- lifting the grinder to not contact the work and moving the grinder in a second direction while the grinder is not contacting the work;
- and
- altering distances that the grinder is moved in the first and second direction, wherein the first and second distances are altered as a function of a number of times of the grinding operation.
A method for controlling a grinder robot, comprising the steps of:
- driving a grinder connected to said grinder robot;
- contacting said grinder to a grinding region of a work to generate at least one contact point between the grinder and the grinding region
- calculating a guide line of said grinder using the at least one contact point obtained by said contacting step;
- and
- controlling said grinder so as to start all grinding operations from a position on said guide line.
A method for controlling a grinder robot, comprising the steps of:
- driving a grinder connected to said grinder robot;
- contacting said grinder to a grinding region of a work to generate at least one contact point between the grinder and the grinding region;
- calculating a guide point of said grinder using the at least one contact point obtained by said contacting step;
- controlling said grinder so as to start a grinding operation from a position on said guide point;
- and
- calculating a subsequent guide point of said grinder using said guide point so as to start a subsequent grinding operation from a position on said subsequent guide point.
A method for controlling a grinder robot, comprising the steps of:
- driving a grinder connected to said grinder robot;
- pressing said grinder against a grinder region of a work;
- controlling a pressing force of the grinder to have first and second boundary pressing force profiles and a constant pressing force between the first and second boundary pressing force profiles, wherein the first and second boundary pressing force profiles apply a smaller force than the constant pressing force.
Dependencies are inferred from the claim text.