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1. (WO1994029776) METHOD AND APPARATUS FOR CONTROLLING DEBURRING ROBOT

Pub. No.:    WO/1994/029776    International Application No.:    PCT/JP1994/000930
Publication Date: Dec 22, 1994 International Filing Date: Jun 8, 1994
IPC: B25J 9/16
G05B 19/416
G05B 19/425
Applicants: HAMURA, Masayuki

AZTUMA, Kenji

Inventors: HAMURA, Masayuki

AZTUMA, Kenji

Title: METHOD AND APPARATUS FOR CONTROLLING DEBURRING ROBOT
Abstract:
In a process of moving the tip of a deburring tool from a point P1 to a point P2 on a work, if the deburring tool encounters a large burr, the cutting resistance increases abruptly near a point P'1. When the resistance exceeds a predetermined threshold value Xth, the robot causes the deburring tool to detour in the direction in which the cutting resistance becomes smaller, and brings the tip of the tool to a point Q from the point P'1. After that, the robot controls the deburring tool to move the tip from the point Q1 to the point P2 (pattern I). In moving the tip from the point Q1 to point P2, if the cutting resistance again exceeds the threshold value, the robot executes the detouring in the same manner (patterns II and III). Unless such a large burr is encountered, the moving speed of the tool is controlled at a value corresponding to the cutting resistance.