A Teaching System of Force Control Using a Game Joystick for a Polishing Robot.

摘要

In this paper, a teaching system of force control is proposed for a polishing robot using a game joystick. The teaching process is as follows: first, a zigzag path considered according to both sizes of each work and polishing tool is prepared; next, the polishing robot, in which an impedance model following force control method is incorporated, profiles the surface of the work using the zigzag path. The operator has only to control the orientation of the polishing tool using a game joystick so that the tool and work can be in contact each other, keeping the desired relation of position and orientation. Since the impedance model following force controller keeps the contact force to be a desired value, the operator has to give no attention to a sudden over-load or non-contact state. The desired trajectory is automatically obtained as the data including both continuous information of the position and orientation along the zigzag path on the object's surface. After all, the robot can achieve the polishing task without any assists of the operator by referring the acquired trajectory.