Kabushiki Kaisha Yaskawa Denki Seisakusho

Hiroshi Inokuchi

Seigo Nishikawa

Masaaki Hara

Taketoshi Tazaki

Burring by way of a grind stone using a robot has been rarely practiced because the correction of abrasion of the grind stone involves a problem. There has been hitherto proposed a method for correction of abrasion by making use of a force sensor or a special tool holder apparatus. However, since the apparatus is expensive and low in reliability, it has not been practical. In the present invention, a coordinate system is set to a wearing tool mounted to a wrist of a robot separately from the rectangular coordinates of the robot, and the worn amount of the tool detected by use of a sensor is subjected to parallel shifting on the coordinate system of the tool set to the tool to effect correction of abrasion, which is characterized in that a special hard is not required, and operation is simple.

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Kitakyushu, Japan

Hiroshi Inokuchi