Development of a Force-Controlled Finishing Robot System with a Task-Directed Robot Language

We have developed a force-controlled robot system for finishing tasks such as grinding, chamfering and polishing tasks in machining plants. Some force-controlled robot systems have been developed already. However, these robot systems are not used widely because these robot systems are difficult to use. In particular, it is too difficult for robot users to select or decide the many force control parameters, for example desired force, force control direction, force detecting direction, force control gains and so on, in the conventional robot languages. To solve the problem, we have analyzed finishing tasks and have found that the force control parameters closely depend on the tasks. Thus, we have developed a task-directed robot language. The force control parameters are assigned by designating only three key parameters-a task name (TASK), a tool code (TCODE) and a tool center point (TCP) and one force control motion command (GMOVE/CMOVE) in the task-directed robot language. This robot system has been applied to chamfering tasks for the edges between the cast surface and the machined surface of machine parts. In this way the effectiveness of the task-directed robot language has been proved.

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