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1 Development of Automation Technology for Precision Finishing Works Employing a Robot Arm There is demand for the automation of finishing processes that require technical skills in the manufacturing of metal parts with a complex shape. Such processes can be categorized into two major types of processes: polishing the surface and chamfering the edges. In this paper, a robot system with model following force control is applied to a polishing process and the method proposed in this paper is applied to a chamfering process. The proposed method consists of two steps: the edge of a part is measured by a tool with model following force control and then the edge is chamfered using position feedback control along the measured path. The validity of these methods has been confirmed by experiments involving actual polishing and chamfering. 1. 緒 言 NC ( 1 ) ( 2 ) ( 3 ) ( 4 ) 2. 仕 上 げ 作 業 と 自 動 化 R 58 IHI Vol.52 No.2 ( 2012 )

2 ( 5 ) ( 9 ) 1/10 1/100 NC ( 1 ) ( 2 ) CAD ( 5 ) ( 6 ) ( 3 ) CAD ( 7 ) ( 9 ) ( 1 ) ( 2 ) CAD ( 7 ) CAD CAD ( 3 ) 2 ( 1 ) ( 3 ) ( 1 ) 3. 産 業 用 ロボットによる 力 倣 い 制 御 第 1 図 CAD IHI Vol.52 No.2 ( 2012 ) 59

3 CAD 第 1 図 Fig. 1 Model following force control 第 2 図 CAD PC PC 第 2 図 Fig. 2 Testing system configuration PC CAD 12 ms ( 10 ) ( 11 ) 第 3 図 第 4 図 PC 第 3 図 Fig. 3 Control block 60 IHI Vol.52 No.2 ( 2012 )

4 4. ロボットアームによる 高 精 度 エッジ 加 工 手 法 f 2 mm 0.5 mm/s 第 4 図 Fig. 4 Overview of chamfered edge : slot 第 5 図 Ra 第 6 図 ( 1 ) 1 ( 1 ) CAD CAD CAD mm/s ( 2 ) 第 5 図 Fig. 5 Overview of polished surface : cylinder 第 6 図 Fig. 6 Chamfering process IHI Vol.52 No.2 ( 2012 ) 61

5 CAD ( 2 ) 5. 位 置 制 御 加 工 の 問 題 点 と 繰 返 し 学 習 1 2 mm/s P ( 12 ) 第 7 図 第 7 図 - ( a ) - ( b ) 第 7 図 - ( a ) - ( b ) 0 1 a P 10 第 8 図 6. 1 加 工 評 価 試 験 6. 加 工 試 験 f 15 mm mm Ra 3.2 mm ( a ) ( b ) P a 1 a 第 7 図 Fig. 7 Iterative learning control block 62 IHI Vol.52 No.2 ( 2012 )

6 ( mm ) ( mm ) ( a ) ( s ) ( b ) ( s ) 第 8 図 Fig. 8 Effects of iterative learning control ( a ) ( b ) 第 10 図 Fig. 10 Overview of chamfered edge : Hole on a flat surface 第 1 表 Table 1 Results of chamfering : Hole on a flat surface mm mm mm Ra mm Rz mm ( f 3 mm ) 第 9 図 2 mm/s 第 10 図 CAD 第 10 図 - ( b ) 第 1 表 0.1 mm 0.1 mm 0.46 ( a ) ( b ) f 第 9 図 mm Fig. 9 Target shape of edge and chamfering method : Hole on a flat surface ( unit : mm ) 0.04 mm 0.04 mm 6. 2 各 種 形 状 への 適 用 性 確 認 試 験 第 11 図 第 12 図 第 2 表 V 第 13 図 IHI Vol.52 No.2 ( 2012 ) 63

7 ( a ) ( b ) ( c ) R ( 62 ) 結 言 参 考 文 献 第 12 図 Fig. 12 Overview of chamfered edge : Slot on a cylinder 第 2 表 Table 2 Results of chamfering : Slot on a cylinder mm mm mm Ra mm 第 11 図 mm Fig. 11 Target shape of edge : Slot on a cylinder ( unit : mm ) 7 9 ( a ) ( b ) 第 13 図 V Fig. 13 Overview of chamfered edge : V-shaped groove 45 ( 1 ) IHI pp ( 2 ) pp ( 3 ) IHI pp ( 4 ) 29 3G ( 5 ) < > ( 6 ) KREUZ < > ( 7 ) pp ( 8 ) C pp ( 9 ) pp IHI Vol.52 No.2 ( 2012 )

8 ( 10 ) C pp ( 11 ) 1988 pp ( 12 ) pp IHI Vol.52 No.2 ( 2012 ) 65

MmUm+FopX m Mm+Mop F-Mm(Fop-Mopum)M m+mop MSuS+FX S M S+MOb Fs-Ms(Mobus-Fex)M s+mob Fig. 1 Particle model of single degree of freedom master/ slave sy

MmUm+FopX m Mm+Mop F-Mm(Fop-Mopum)M m+mop MSuS+FX S M S+MOb Fs-Ms(Mobus-Fex)M s+mob Fig. 1 Particle model of single degree of freedom master/ slave sy Analysis and Improvement of Digital Control Stability for Master-Slave Manipulator System Koichi YOSHIDA* and Tetsuro YABUTA* Some bilateral controls of master-slave system have been designed, which can

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