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Automatic finishing machine and control method thereof

  • US 20100057257A1
  • Filed: 08/14/2009
  • Published: 03/04/2010
  • Est. Priority Date: 08/27/2008
  • Status: Active Grant
First Claim
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1. A method of controlling an automatic finishing machine adapted for providing a finishing process to a work by using a robot provided with a tool, comprising:

  • a model storage step of storing a shape data of a three-dimensional model for expressing a shape of a work to be unfinished, or storing a teaching data indicative of a position of the tool corresponding to the shape data;

    a data acquisition step of bringing the tool into contact with a given portion of the work so as to obtain a measurement data indicative of a contact position between the tool and the work;

    a calculation step of calculating, based on the measurement data, an actual-position data indicative of a position of a comparative object point;

    an error derivation step of obtaining a data difference between the actual-position data of the comparative object point and a model-position data indicative of a position of the comparative object point in the three-dimensional model;

    a correction step of correcting, based on the data difference, the teaching data indicative of the position of the tool corresponding to the shape data of the three-dimensional model so as to obtain a corrected teaching data; and

    a machining step of performing the finishing process while controlling the robot based on the corrected teaching data.

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