Robot polishing control method, system, and program

Abstract

To provide a robotic polishing technique capable of enhancing shape accuracy and surface quality of polishing.SOLUTION: A robotic polishing control method is a method executed by a control device (polishing device controller 10) that controls a polishing device 2 connected to a robot 1. The method comprises the steps of: receiving, by a control device, information on a position, orientation, and feed rate of the robot 1, and calculating a position, orientation, and feed rate of a tip of a rotary tool 4 of the polishing device 2 based on the received information; and, on the basis of the calculated position, orientation, and feed rate of the tip of the rotary tool 4, performing calculation for controlling a polishing force f, rotation speed n, and feed rate v made by the polishing device 2 in conjunction with each other, and, on the basis of the calculated polishing force f, rotation speed n, and feed rate v, outputting a command to the polishing device 2.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to robotic polishing technology. [Background technology]

[0002] In the manufacture of molds and other parts, polishing is an important final process that is carried out to improve surface quality. Conventional polishing is mainly performed manually by workers, which is time-consuming and costly. As a result, there is a growing demand for robotic polishing, which uses robots to perform the polishing process.

[0003] A robot polishing system is a system in which a polishing device (sometimes referred to as a polishing machine or polishing module) is mounted on an industrial robot equipped with multiple drive axes and links. The robot polishing system can automate the polishing process on workpieces.

[0004] A conventional robot polishing system has a configuration in which a polishing device, which is a microsystem, is connected to the link at the tip of a serial link robot, which is a robot, which is a macrosystem. The polishing device is configured with an end effector that connects and holds a rotary tool (i.e., a polishing tool) and drives the rotary tool.

[0005] An example of prior art related to a robot polishing system is Japanese Patent Laid-Open Publication No. 10-549 (Patent Document 1). Patent Document 1 describes a "polishing device" that "enables actively controlled polishing using detection information related to a rotary processing means such as a contact wheel," and that "polishing head 10 is capable of adjusting the position of contact wheel 1 around which polishing belt 12 is wound using servo motor 18 and ball screws 21 and 23. Support 25 for attaching contact wheel 1 to top plate 24 has a built-in force sensor, making it possible to detect the pressing force applied by workpiece 2 gripped by workpiece chuck 7 of robot 30. The pressing force detected by the force sensor of support 25 is used as an input value to drive servo motor 18 according to a predetermined control algorithm, thereby controlling the position and speed of contact wheel 1." [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 10-549 Summary of the Invention [Problem to be solved by the invention]

[0007] Conventionally, Preston's law is used as a polishing theory. According to this law, the material removal height (or in other words, the material removal depth or amount of material removed) in polishing depends on three conditions or parameters. That is, according to this law, the material removal height is proportional to the pressure, speed (relative speed), and time (processing time, dwell time, etc.).

[0008] Conventional robot polishing systems are based on the position control of the robot, which is a macro system (in other words, a macro mechanism). In contrast to the robot, the polishing device is a micro system (in other words, a micro mechanism). Conventionally, the control of the robot, which is the macro side, and the control of the polishing device, which is the micro side, have been independent and not linked. In other words, conventional robot polishing systems have not fully considered the linkage between the robot and the polishing device. Because conventional robot polishing systems are based on position control, they are not able to quickly control the force of the polishing device. In other words, conventional robot polishing systems are not able to control the polishing device with high responsiveness relative to the robot.

[0009] Furthermore, some robotic polishing systems in the prior art are configured to include a force sensor, springs, etc. in the polishing device. In other words, some prior art systems are configured to include an end effector capable of passive force control, and the detected force on the rotary tool is used for passive control. However, these robotic polishing systems do not actively control the force or rotation speed of the rotary tool, making it difficult to achieve uniform polishing, for example.

[0010] Conventional robotic polishing systems do not control all three parameters of Preston's law: pressure, speed, and time. From the perspective of polishing theory, the product of these three parameters is related to the amount of material removed. Therefore, it is considered desirable to actively control all three parameters simultaneously in conjunction with each other. However, no robotic polishing systems or control methods capable of such control and calculation have been proposed.

[0011] Due to the above-mentioned problems, conventional robot polishing systems and control methods have limitations in polishing, making it difficult to improve polishing accuracy, and there is room for improvement in terms of, for example, the shape accuracy and surface quality of the polished workpiece surface.

[0012] An object of the present disclosure is to provide a technology that can improve the shape accuracy and surface quality of polishing in relation to the robot polishing technology.

[0013] Note that the prior art example such as Patent Document 1 is a technology that does not control the rotation speed at all, and is not a technology that controls all three parameters of force, speed, and time in a coordinated manner. In order to suitably or optimally control the polishing scratch interval and removal amount, it is necessary to control all three parameters of force, speed, and time in a coordinated manner. [Means for solving the problem]

[0014] A representative embodiment of the present disclosure has the following configuration: A robot polishing control method according to the embodiment is a method executed by a control device that controls a polishing device connected to a robot, the polishing device being a device whose rotation speed is controlled and which polishes an object with its tip, the method comprising the steps of: receiving information regarding the position, attitude, and feed rate of the robot by the control device; calculating the position, attitude, and feed rate of the tip of the rotary tool of the polishing device based on the received information regarding the position, attitude, and feed rate of the robot; and performing calculations by the control device to control the polishing force, rotation speed, and feed rate of the polishing device in a coordinated manner based on the calculated position, attitude, and feed rate of the tip of the rotary tool, and outputting a command to the polishing device based on the calculated polishing force, rotation speed, and feed rate. [Effects of the Invention]

[0015] According to the representative embodiments of the present disclosure, the shape accuracy and surface quality of the polishing can be improved with respect to the robot polishing technology. Problems, configurations, effects, etc. other than those described above will be described in the detailed description of the invention. [Brief explanation of the drawings]

[0016] [Figure 1] 1 shows the configuration of a robot polishing control system according to a first embodiment. [Figure 2] In the first embodiment, an example of the configuration of a robot and a polishing device will be shown. [Figure 3] In the first embodiment, parameters relating to the rotary tool of the polishing device are shown. [Figure 4] 1 shows the basic configuration of the control function of the polishing apparatus controller in the first to third embodiments. [Figure 5] In the first embodiment, calculation formulas relating to Preston's law and the extended model will be shown. [Figure 6] In the first embodiment, an explanatory diagram of a test for identifying an extension parameter is shown. [Figure 7] 1 shows an example of a user interface screen in the first to third embodiments. [Figure 8] In the first embodiment, a configuration of a polishing scratch interval control function by a polishing apparatus controller will be described. [Figure 9] In the first embodiment, an example of a functional block configuration relating to the polishing scratch interval control function of the polishing apparatus controller is shown. [Figure 10] 10 shows the configuration of a polishing removal amount control function by a polishing device controller in a robot polishing control system according to a second embodiment. [Figure 11] In the second embodiment, a functional block configuration example of the polishing removal amount control function of the polishing apparatus controller is shown. [Figure 12] 10 shows the configuration of the control function of a polishing device controller in a robotic polishing control system according to a third embodiment. [Figure 13] In the third embodiment, a functional block configuration example of the control function of the polishing apparatus controller is shown. [Figure 14] 1 shows the configuration of a robot polishing control system according to a modification of the first to third embodiments. [Figure 15] 1 shows the configuration of a robotic polishing control system according to another modified example of the first to third embodiments. [Figure 16] An experimental example of robot polishing relating to the first to third embodiments will be described. [Figure 17]1 shows examples of material removal heights as a result of robot polishing for the first to third embodiments in comparison with a comparative example. [Figure 18] 1 shows examples of workpiece surfaces polished by robots according to the first to third embodiments in comparison with a comparative example. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, identical parts are generally designated by the same reference numerals, and repeated explanations will be omitted. In the drawings, the representation of components may not represent their actual positions, sizes, shapes, ranges, etc., in order to facilitate understanding of the invention.

[0018] For the sake of explanation, when describing processing by a program, the program, function, processing unit, etc. may be described as the main body, but the main hardware body for these is a processor, or a controller, device, computer, system, etc. that is configured with the processor, etc. A computer executes processing according to a program read into memory using resources such as memory and communication interfaces as appropriate through the processor. This realizes predetermined functions, processing units, etc. A processor is configured, for example, with semiconductor devices such as a CPU / MPU or GPU. Processing is not limited to software program processing, but can also be implemented using dedicated circuits. Dedicated circuits such as FPGAs, ASICs, and CPLDs can be used.

[0019] The program may be pre-installed as data on the target computer, or may be distributed as data from a program source to the target computer. The program source may be a program distribution server on a communication network, or a non-transitory computer-readable storage medium such as a memory card or disk. The program may be composed of multiple modules. The computer system may be composed of multiple devices. The computer system may be composed of a client-server system, a cloud computing system, an IoT system, etc. Various data and information may be composed of structures such as tables and lists, for example, but are not limited to these. Expressions such as identification information, identifiers, IDs, names, and numbers are interchangeable.

[0020] <Solutions, etc.> The embodiments of the present disclosure realize a mechanism for actively adjusting and controlling three conditions and parameters related to robot polishing simultaneously in order to achieve higher precision robot polishing. The robot polishing control system and method of the embodiments extend the well-known Preston's law and construct a new extended model that supports macro-micro control in a system in which a robot main body, which is a macro system / macro mechanism, and a polishing device, which is a micro system / micro mechanism, are connected.

[0021] Corresponding to the three parameters of pressure, speed, and time in Preston's law, a theory of polishing processing, the three parameters in the extended model are the polishing force, rotation speed, and feed rate of the rotating tool in the polishing machine, which is a microsystem. The extended model includes calculation formulas for optimally determining the values ​​of these three parameters in conjunction with each other.

[0022] In the robot polishing control system and method according to the embodiment, a controller (sometimes referred to as a polishing apparatus controller or control device) connected to the polishing apparatus is provided in a macro-micro system in which a robot on the macro side is connected to a polishing apparatus on the micro side. In this system and method, a polishing apparatus controller is additionally provided between the robot on the macro side and the polishing apparatus on the micro side as a mechanism with intelligent functions for interlocking control between them. In this system and method, the provision of the polishing apparatus controller indirectly realizes interlocking control, including communication between the robot on the macro side and the polishing apparatus on the micro side.

[0023] The robot polishing control system and method of the embodiment are designed to control the macro-side robot and the micro-side polishing device in conjunction with each other via the polishing device controller. Based on the expanded model, the robot polishing control system and method actively and simultaneously controls three parameters related to robot polishing: the polishing force of the rotary tool, the rotation speed, and the feed rate. This enables more accurate control of the scratch spacing and material removal height caused by robot polishing. Furthermore, because the polishing device controller calculates and controls the parameter values, there is no need to equip the polishing device with a force sensor or the like.

[0024] The robot polishing control system and method of the embodiment uses a polishing device controller to actively control the above three parameter values ​​from the perspective of the polishing device (micro side) in conjunction with the movement of the robot (macro side) based on calculations from monitors and extended models.

[0025] The robot polishing control system of the embodiment is a system having at least a polishing device controller, and the polishing device controller controls the polishing device by performing specific calculation processing based on the extended model. The robot polishing control method of the embodiment is a method having a step of the polishing device controller controlling the polishing device by performing specific calculation processing based on the extended model.

[0026] The robot polishing control method and system of the embodiment uses a polishing device controller to link the control of the robot by the robot controller on the macro side with the control of the polishing device by the polishing device controller on the micro side, thereby suitably or optimally controlling the three parameter values ​​related to robot polishing using a rotary tool.

[0027] The main feature of the robotic polishing control method and system of the embodiment is the calculation process and associated input / output by the polishing machine controller connected to the polishing machine. This polishing machine controller determines the suitable or optimal values ​​by linking all three of the parameter values ​​of the rotary tool of the polishing machine based on the macro-micro system monitor and the extended model.

[0028] The polishing apparatus controller constantly monitors and acquires information required for calculation of the extended model from the macro robot and the micro polishing apparatus. The polishing apparatus controller monitors the status of the macro robot (such as the position, posture, and feed rate described below) and the status of the micro polishing apparatus (such as the rotation speed and position response described below). In the robot polishing control method and system of the embodiment, the polishing apparatus controller is interposed between the macro robot and the micro polishing apparatus, and the polishing apparatus controller monitors the status of the macro robot so that the micro polishing apparatus performs polishing processing while reflecting the status of the macro robot.

[0029] The polishing device controller performs calculations on the extended model using monitor input information and the like to determine the three parameter values ​​mentioned above for interlocking and controlling the polishing operation of the micro-side polishing device. During the calculations, the polishing device controller calculates the position, orientation, and feed rate of the tip of the polishing device's rotary tool from the position, orientation, and feed rate of the robot's tip based on the monitor input information and setting information. Based on the calculations on the extended model, the polishing device controller determines the optimal interlocking values ​​for the polishing force, rotation speed, and feed rate as three parameter values ​​of the rotary tool, for example, to keep the spacing between polishing scratches constant.

[0030] The polishing machine controller then outputs command values, etc., generated based on the results of the calculation process, to the polishing machine, which then drives the rotary tool so that the three parameter values ​​are linked to each other, thereby polishing the object.

[0031] In this embodiment, the polishing apparatus operates not only according to basic drive control from the robot, i.e., drive control based on position-based control, but also according to command values ​​from the polishing apparatus controller related to the linked control of the above three parameter values, in other words, drive control information / signals. This polishing apparatus itself can be a polishing apparatus having the same hardware and software as conventional polishing apparatuses.

[0032] <First Embodiment> A robotic polishing control system and method according to a first embodiment of the present disclosure will be described with reference to FIGS. 1 to 9 and the like.

[0033] The robot polishing control system of the first embodiment shown in Fig. 1 etc. is a system having a function of controlling the polishing apparatus by a control device (polishing apparatus controller) connected to the polishing apparatus so that the scratch spacing during robot polishing becomes a desired amount, for example, a constant value. The robot polishing control method of the first embodiment is a method having a step of performing such control on the polishing apparatus by the control device.

[0034] A polishing apparatus has a rotary tool (in other words, a polishing tool) whose rotation speed is controlled, and polishes an object (workpiece) with the tip of the rotary tool.

[0035] The robot polishing control method of embodiment 1 includes a step in which the control device receives and inputs information regarding the position, posture, and feed rate of the robot as a monitor, and a step in which the control device calculates the position, posture, and feed rate of the tip of the rotary tool of the polishing device based on the information input by the control device as a monitor (the position, posture, and feed rate of the robot).

[0036] The robot polishing control method of the first embodiment includes a step in which the control device performs calculations to control the polishing force, rotation speed, and feed speed of the rotary tool in a coordinated manner based on the calculated parameter values ​​(position, orientation, and feed speed of the tip of the rotary tool) and Preston's law or an extended model of Preston's law. The calculation step is a step of controlling the rotation speed so that the feed amount per rotation of the rotary tool is a desired amount according to the feed speed of the robot, as feedback control with the goal of making the polishing scratch interval a desired amount (for example, a constant value or a variable value).

[0037] The robot polishing control method of the first embodiment includes a step in which the control device generates command values ​​corresponding to the calculated three parameter values ​​(polishing force, rotation speed, and feed rate) and outputs the command values ​​to the polishing device.

[0038] The well-known Preston's law states that the amount of removal during polishing is determined by three conditions or parameter values: force, speed, and time. In the first embodiment, an extended model that extends Preston's law is constructed based on the concept of macro-micro systems. This extended model includes a calculation formula for determining the three conditions or parameter values ​​of the rotating tool in the polishing device on the micro side, namely, polishing force, rotation speed, and feed rate, in conjunction with each other. This extended model can be used to control the spacing between polishing scratches and the amount of removal.

[0039] In the first embodiment, there is a function (scratch interval control function 1001 in FIG. 8 described later) that controls the scratch interval to a constant value based on the calculation formula of the extended model. This function determines the feed rate of the rotary tool on the polishing device side according to the feed rate of the robot, and controls the rotation speed so that the feed amount per rotation of the rotary tool is constant. The polishing force is determined according to the rotation speed. This makes it possible to keep the polishing scratch interval approximately constant.

[0040] Note that when only the scratch interval control function 1001 in embodiment 1 is realized, it is not necessary for the polishing apparatus to be equipped with an end effector. When only controlling the scratch interval to be constant, the polishing apparatus does not need an end effector that controls the force on the rotary tool, and it is sufficient to have a rotary tool whose rotation speed is controlled. When controlling the scratch interval to be constant, the polishing apparatus controller does not need to control the polishing force in conjunction with the rotation speed. The polishing apparatus controller can determine and control the feed rate and rotation speed of the rotary tool of the polishing apparatus in conjunction with each other based on a specific calculation based on Preston's law or an extended model.

[0041] The robot polishing control method and system of the first embodiment can independently control the polishing force and rotation speed of the spindle of the rotary tool of the polishing machine in accordance with the feed speed of the robot by the control device. In the first embodiment, the polishing machine is configured to be compatible with linked control from the control device, and only needs to have a mechanism that can simultaneously and independently drive both the parameter values ​​of the rotation speed and polishing force of the spindle of the rotary tool.

[0042] [Robot Polishing Control System] Fig. 1 shows the configuration of a robot polishing control system according to embodiment 1. Note that Fig. 1 illustrates a system that also includes related elements other than the robot polishing control system according to embodiment 1. The robot polishing control system according to embodiment 1 shown in Fig. 1 includes a robot 1, a polishing machine 2, a robot controller (robot control device) 100, a robot CAM 101, a CAD model 102, a polishing machine controller (control device) 10, an end effector driver 51, and a rotary tool driver 52.

[0043] The robot polishing control system of the first embodiment is a system in which a robot 1 is controlled by a robot controller 100, and a workpiece, which is an object 9, is polished by the tip of a rotary tool 4 of a polishing apparatus 2. The robot polishing control system of the first embodiment is a system in which a polishing apparatus controller 10 controls the polishing by the polishing apparatus 2.

[0044] The components in Figure 1 are connected by wired cables and can communicate with each other via a predetermined communication interface, but this is not limiting and wireless communication via a predetermined communication interface may also be applied. Note that a power supply unit (not shown) supplies the necessary power to each component in Figure 1.

[0045] The robot 1 is a type of industrial robot, a vertical articulated robot, or in other words, a serial link robot. The robot 1 has multiple drive axes and multiple links. A robot controller 100 drives and controls actuators such as motors of the robot 1 based on position-based control.

[0046] The robot controller 100 can be implemented by, for example, a PC or an industrial microcomputer, particularly a programmable logic controller (PLC), and has the function of controlling the operation of the robot 1.

[0047] A polishing device 2 is connected and fixed to the tip of the arm of the robot 1 (see FIG. 2, described later). The polishing device 2 has an end effector 3 and a rotary tool 4 connected to the end effector 3. The end effector 3 has a motor 31 and an encoder 32. An end effector driver 51 is connected to the motor 31. A rotary tool driver 52 is connected to the rotary tool 4. The motor 31 is, for example, a voice coil motor (VCM), and is an actuator that drives the rotary tool 4 for polishing force (see FIG. 3, described later). The encoder 32 is a linear encoder connected to the motor 31, and detects the position of the motor 31 and outputs it as a position response A10.

[0048] The robot CAM 101 is a system equipped with CAM (Computer-aided manufacturing) and robot programming software. The robot CAM 101 creates a tool path for the operation of the robot 1 based on a CAD (Computer-aided design) model 102 related to the object 9, and outputs a robot operation command A1 corresponding to the tool path to the robot controller 100. The robot operation command A1 corresponds to a command or the like.

[0049] The robot controller 100 is a control device that controls the operation of the robot 1, which is a macro system, and performs position-based control of the robot 1. The robot controller 100 generates a link position command A2 for controlling the operation of the robot 1 based on a robot operation command A1 from the robot CAM 101 and a link position response A3 from the robot 1, and outputs or transmits the command to the robot 1. The robot controller 100 also inputs or receives a link position response A3 from the robot 1 at a predetermined timing. The link position response A3 includes information about the position and posture of each link of the robot 1. The robot controller 100 also outputs or transmits a link position response A4 corresponding to the link position response A3 to the polishing apparatus controller 10.

[0050] The link position response A4 has a value related to the displacement of each link of the robot 1, and includes information such as the angle of each link (in other words, the direction of each axis representing the posture). Based on information such as the angle of each link and information such as the arm length, the position, posture, and feed rate of the link at the tip of the robot 1 can be obtained by calculation.

[0051] The robot 1 operates each link according to the link position command A2. The position, posture, and feed rate of the link at the tip of the arm of the robot 1 determine the position, posture, and feed rate of the polishing device 2.

[0052] The polishing apparatus controller 10 is a control device for the polishing apparatus 2, which is a micro system, and also a control device that performs interlocking control in the macro-micro system, and is the main control unit in the robotic polishing control system of the first embodiment.

[0053] The polishing apparatus controller 10 has a polishing scratch interval control function 1001 (FIG. 8) based on the basic configuration shown in FIG. 4 (described later), and controls the polishing apparatus 2 using this function. The polishing apparatus controller 10 constantly monitors the state of the robot 1, which is a macro system, and the state of the polishing apparatus 2, which is a micro system. Specifically, the polishing apparatus controller 10 receives a link position response A4 from the robot 1 and a rotation speed A8 and a position response A10 from the polishing apparatus 2 using this function.

[0054] Using this function, the polishing apparatus controller 10 generates command values ​​for interlocking and controlling the polishing operation of the polishing apparatus 2 based on an extended model calculation, which will be described later. The polishing apparatus controller 10 outputs the command values ​​(in other words, drive control signals) to the drivers, that is, the end effector driver 51 and the rotary tool driver 52, thereby driving and controlling the polishing apparatus 2 via the drivers. Specifically, the polishing apparatus controller 10 outputs and transmits a rotation command A5, which is a command value for controlling the rotation speed of the rotary tool 4, to the rotary tool driver 52, and outputs and transmits a current reference value A6, which is a command value for controlling the polishing force by the end effector 3, to the end effector driver 51.

[0055] The end effector driver 51 corresponds to a servo driver that servo-controls the motor 31 (VCM). The rotary tool driver 52 corresponds to a spindle controller that controls the rotation of the spindle of the rotary tool 4.

[0056] In the first embodiment, the end effector driver 51 is disposed at a location remote from the end effector 3 and connected to the end effector 3 by a wired cable. The rotary tool driver 52 is disposed at a location remote from the rotary tool 4 and connected to the end effector 3 by a wired cable. However, the present invention is not limited to this. The end effector driver 51 may be integrally mounted on the end effector 3, or the rotary tool driver 52 may be integrally mounted on the rotary tool 4. Alternatively, these drivers may be integrally mounted on the polishing apparatus controller 10.

[0057] In the first embodiment, the motor 31 is a voice coil motor (VCM), but is not limited to this and various types of actuators are applicable, such as a pneumatic piston and a piezoelectric actuator.

[0058] The end effector driver 51 generates a current A9, which is a drive signal for controlling the polishing force, in accordance with the current reference value A6, and supplies the current A9 to the motor 31 of the end effector 3. The motor 31 translates the rotary tool 4 in accordance with the current A9. As a result, the rotary tool 4 is driven with a specified polishing force f (see FIG. 3, which will be described later). The end effector 3 also outputs and transmits a position response A10 from the encoder 32 to the polishing apparatus controller 10. The position response A10 is a signal or information that represents the position, posture, and feed rate of the polishing apparatus 2.

[0059] The rotary tool driver 52 generates a current A7, which is a drive signal for controlling the rotation speed, in accordance with the rotation command A5, and supplies the current A7 to the rotary tool 4. The rotary tool 4 is driven to rotate at a specified rotation speed n in accordance with the current A7 (FIG. 3, which will be described later).

[0060] Furthermore, the rotary tool driver 52 receives and inputs the rotation speed A8 as a response from the rotary tool 4, and outputs and transmits a rotation speed A8 similar to the rotation speed A8 to the grinding apparatus controller 10. In this way, the grinding apparatus controller 10 monitors the rotation speed of the rotary tool 4.

[0061] The position, posture, and feed rate of the robot 1 during polishing are determined as a tool path by the robot CAM 101. Information obtained by the polishing device controller 10 monitoring the robot controller 100 of the robot 1, i.e., information on the link position response A4, includes information on the angle of each link corresponding to the position, posture, and feed rate of the robot 1.

[0062] The polishing apparatus controller 10 constantly monitors the position, posture, and feed rate of the robot 1 (a macro system), as well as the rotation speed A8 of the rotary tool 4 of the polishing apparatus 2 (a micro system), a current reference value A6 corresponding to the current value of the motor 31, and a position response A10. Because the current control of the motor 31 is performed at high speed, with commands and responses occurring almost simultaneously, the polishing apparatus controller 10 uses the current reference value A6 generated as a command to determine the current value of the motor 31. The polishing apparatus controller 10 calculates the polishing force (described below) using the current reference value A6 and the position response A10. If the motor 31 is equipped with a current sensor, the polishing apparatus controller 10 may monitor the current value from the current sensor.

[0063] Based on the monitor input information (link position response A4) as described above, the polishing apparatus controller 10 calculates the position, posture, and feed rate of, for example, the tip link of the robot 1, i.e., the location where the end effector 3 of the polishing apparatus 2 is connected (robot tip position P1 in FIG. 2). Furthermore, based on information such as the relative relationship between the position of the tip link of the robot 1 (robot tip position P1 in FIG. 2) and the predetermined position of the tip of the rotary tool 4 of the polishing apparatus 2 relative to the robot 1 (tool tip position P2 in FIG. 2), the polishing apparatus controller 10 calculates the position, posture, and feed rate of the tip of the rotary tool 4 (tool tip position P2 in FIG. 2).

[0064] Information on the structure of the robot 1, such as links, required to calculate the position of the tip of the robot 1, etc., is set in advance in robot configuration information 2001 (FIG. 4) described later. Information on the structure and relative relationship of the grinding device 2, such as those required to calculate the position of the tip of the rotary tool 4, etc., is set in advance in grinding device configuration information 2002 (FIG. 4) described later.

[0065] The polishing device controller 10 performs calculations of the extended model described below based on the feed rate of the rotary tool 4, which corresponds to the feed rate of the robot 1, etc., obtained by the above calculations, and determines the parameter values ​​for controlling the polishing force, rotation speed, and feed rate of the rotary tool 4 in a coordinated manner.

[0066] In the first embodiment, the polishing apparatus controller 10 performs, for example, constant scratch spacing control. In this case, during the above calculation, the polishing apparatus controller 10 determines the rotation speed for maintaining the scratch spacing constant. Then, the polishing apparatus controller 10 generates a rotation command A5 corresponding to the command value of the rotation speed and supplies it to the rotary tool driver 52. In addition to controlling the rotation speed, the polishing apparatus controller 10 also determines the polishing force, generates a current reference value A6 corresponding to the command value of the polishing force, and supplies it to the end effector driver 51.

[0067] In the robotic polishing control system of the first embodiment, the polishing apparatus 2, which is a microsystem, is an apparatus equipped with a mechanism capable of controlling the polishing force and the rotation speed. In other words, the polishing apparatus 2 is an apparatus in which the polishing force and the rotation speed can be independently controlled by the polishing apparatus controller 10. In the system of the first embodiment, the polishing force and the rotation speed of the polishing apparatus 2 can be controlled in conjunction with each other by the polishing apparatus controller 10.

[0068] [Polishing machine controller] 1 can be implemented as a general industrial controller, such as a programmable logic controller (PLC), a PC, an electronic circuit board, etc., and the details of the implementation are not limited. In the first embodiment, the polishing apparatus controller 10 is connected to the robot controller 100, the polishing apparatus 2, and each driver, etc., via wired communication.

[0069] The polishing apparatus controller 10 includes a processor, memory, a communication interface, a bus, etc. The polishing apparatus controller 10 executes processing in accordance with a program loaded into the memory by the processor, for example. This realizes the control functions and functional blocks described below. The program is a computer program that causes the processor of the polishing apparatus controller 10 to execute predetermined processing.

[0070] The polishing apparatus controller 10 has a control function 1000 that controls the polishing force, rotation speed, and feed rate as three parameter values ​​during polishing by the rotary tool 4 of the polishing apparatus 2 based on the monitor and the extended model (see FIG. 4, which will be described later). In particular, in the first embodiment, the polishing apparatus controller 10 has a scratch spacing control function 1001, which is a function that controls the scratch spacing during polishing to a desired amount (see FIG. 8, which will be described later).

[0071] [Robots and Polishing Equipment (1)] 2 shows an example of the configuration of the robot 1 and the polishing apparatus 2 according to the first embodiment, including their external appearances. In FIG. 2, a three-dimensional spatial coordinate system is represented by (X, Y, Z).

[0072] As shown in the figure, the robot 1 is, for example, a multi-link serial link robot, and a polishing device 2 is connected to a link at the tip of an arm. In the first embodiment, the robot 1 is a serial link robot, but is not limited to this and may be a parallel mechanism robot or a SCARA robot.

[0073] The position of the link at the tip of the arm of robot 1 is also shown as robot tip position P1. Robot 1 has information on the position, posture, and feed rate at robot tip position P1 according to the operation of robot 1. This position can be calculated from the angles of each link, etc., and can be expressed as position coordinates in a three-dimensional spatial coordinate system. This posture can be expressed as the direction (angle) of each of the three orthogonal axes (X, Y, Z). This feed rate can be expressed as the speed at that position and posture.

[0074] Furthermore, the polishing apparatus 2, which is a microsystem, has a relative relationship with the robot 1, which is a macrosystem, in terms of a predetermined arrangement, shape, state, etc. Therefore, the position, posture, and feed rate of the polishing apparatus 2 can be calculated from the position, posture, and feed rate of the robot 1. In particular, the position of the tip of the rotary tool 4 is shown as tool tip position P2. The position, posture, and feed rate at tool tip position P2 can be obtained by calculation that reflects the relative relationship of the polishing apparatus 2 with respect to the robot 1, based on information about the robot tip position P1.

[0075] The polishing device 2 has a motor 31 and other components mounted within a housing. The polishing device 2 is connected and fixed to a link at the tip of the robot 1 by, for example, an air chuck. A polishing head or polishing tip 4b is fixed to the tip of a rotary tool 4, which is the main shaft (electric spindle). The polishing head or polishing tip 4b is equipped with, for example, disk-shaped sandpaper. The polishing head or polishing tip 4b rotates as the rotary tool 4 rotates. The polishing head or polishing tip 4b comes into contact with the surface of a workpiece, which is an object 9. The workpiece, which is an object 9, is fixed to a chuck on a workbench. The polishing device 2 at the tip of the robot 1 rotates while the polishing head or polishing tip 4b at the tip of the rotating rotary tool 4 is pressed against the surface of the object 9, thereby polishing the surface of the object 9.

[0076] The polishing device 2 is shown enlarged at the bottom of FIG. 2. As shown in the figure, the polishing device 2 has parameters such as a feed rate v, a feed amount d, a polishing force f, and a rotation speed n. The feed rate v is the speed at which the polishing device 2 is fed by the robot 1 along the surface direction of the object 9. The feed amount d corresponds to the feed rate v and the rotation speed n and is the amount fed per rotation in the surface direction of the object 9. The rotation speed n is the spindle rotation speed of the rotary tool 4.

[0077] The end effector 3 supports the rotary tool 4 so that the rotary tool 4 can translate and rotate. The end effector 3 drives the rotary tool 4 by a motor 31 in a direction in which the rotary tool 4 is pressed against the surface of the object 9, thereby generating a polishing force f.

[0078] The robot polishing control system of the first embodiment uses the polishing device 2 of the robot 1 to polish the surface of the object 9 into a predetermined controlled shape based on a CAD model 102, based on control by the robot controller 100. In this process, the system controls the position, posture, feed rate v, and feed amount d of the tip position (tool tip position P2) of the rotary tool 4, based on control by the polishing device controller 10, and also controls the rotation speed n and polishing force f in conjunction with each other.

[0079] [Robots and Polishing Equipment (2)] FIG. 3, which corresponds to FIG. 2, shows parameters and control variables related to the rotary tool 4 of the polishing apparatus 2. As described above, the polishing force f and rotation speed n of the rotary tool 4 are controlled by the polishing apparatus controller 10 via the driver and end effector 3. FIG. 3 schematically illustrates the state in which the polishing head or polishing tip 4b at the tip of the rotary tool 4 is pressed against the surface of the object 9 and rotates. As indicated by the arrow in the figure, the rotary tool 4 generates a feed rate v in the direction of the surface of the object 9. There is a correspondence between the feed rate v and the feed amount d per rotation. The rotary tool 4 also generates a polishing force f in the normal direction to the surface being machined. Specifically, the polishing force f is generated by the rotary tool 4 in the normal direction to the surface of the object 9, depending on the orientation of the rotary tool 4 relative to the surface of the object 9. Polishing may also be performed by tilting the rotary tool 4 obliquely relative to the surface being machined. In this case, the polishing apparatus controller 10 converts the tilt angle into a polishing force in the normal direction to the machined surface and controls the polishing force to be constant. As described above, control is possible even when the normal direction to the machined surface does not match the direction of the spindle, which is the rotary tool 4. Furthermore, rotation occurs at a rotation speed n around the spindle, which is the rotary tool 4, as the rotation axis. The rotation speed n and the rotation speed have a corresponding relationship.

[0080] In addition, in the lower part of Fig. 3, in an image diagram of polishing on the surface of the object 9, the scratch spacing (denoted as x) and the material removal height (denoted as z) related to polishing are shown as parameters to be controlled, in other words, control variables. The scratch spacing x is, in other words, a period, etc., and occurs in the direction of the surface of the object 9. The material removal height z is, in other words, the depth or amount of material removed, and occurs in the depth / height direction relative to the surface of the object 9.

[0081] The scratch interval x can be defined as follows. As shown in Figure 3, consider a plane corresponding to the surface of the object 9, including the contact point of the tip of the rotary tool 4. In this case, lines of scratches (in other words, removed portions) caused by polishing are generated on that plane in one direction, for example, a direction roughly perpendicular to the direction of the polishing tool path (the tool feed direction in Figure 6). The scratches are illustrated as curves in the lower part of Figure 3. The interval between multiple scratches in that one direction (such as their corresponding length) can be defined as the scratch interval x. This scratch interval x corresponds to the feed amount d per rotation. The tool feed direction is the direction in which the polishing head or polishing tip 4b at the tip of the rotary tool 4 moves relative to the surface.

[0082] The material removal height z can be defined as follows: Consider a plane corresponding to the surface of the object 9 that includes the contact point of the tip of the rotary tool 4. In this case, the height (depth, amount, etc.) removed by polishing in the direction perpendicular to the plane in which the tip of the rotary tool 4 is pressed, for example, in the height direction or depth direction of the material of the object 9, can be defined as the material removal height z.

[0083] [Basic configuration - control function] 4 shows the basic configuration of a control function 1000 by the polishing apparatus controller 10 in the robot polishing control method and system according to Embodiments 1 to 3. Each of Embodiments 1 to 3 has the control function 1000 shown in FIG. 4 as a basic configuration in common.

[0084] 4 is realized based on the hardware and software of the polishing apparatus controller 10. In the first to third embodiments, the control function 1000 in FIG. 4 is realized mainly by program processing by a processor.

[0085] The control function 1000 in Figure 4 is a function that simultaneously controls the three parameter values ​​of the rotating tool 4 of the polishing device 2, namely the polishing force f, the rotation speed n, and the feed rate v (Figure 3), in conjunction with each other, using calculations based on Preston's law and an extended model of Preston's law for polishing processing in a system in which a robot 1 and a polishing device 2 are connected, which is a macro-micro system such as that in Figure 1.

[0086] The polishing apparatus controller 10 receives and inputs, as monitor inputs from the robot 1, the information (link position response A4) relating to the position, posture, and feed rate of the robot 1. In addition, the polishing apparatus controller 10 receives and inputs, as monitor inputs from the polishing apparatus 2, the information (rotational speed A8) relating to the rotation speed n of the rotary tool 4 and the position response A10 of the motor 31.

[0087] Based on the monitor input information and the like, the polishing apparatus controller 10 calculates and obtains the position, posture, and feed rate of the tip of the rotary tool 4 (the aforementioned tool tip position P2) of the polishing apparatus 2. Furthermore, based on the position, posture, and feed rate of the tip of the rotary tool 4 (the aforementioned tool tip position P2) and the calculations of the extended model, the polishing apparatus controller 10 determines suitable or optimal values ​​as three parameter values ​​related to polishing by the tip of the rotary tool 4 so as to control these three parameter values ​​in a linked manner. Then, the polishing apparatus controller 10 generates command values ​​corresponding to the determined three parameter values ​​and outputs them to the aforementioned driver.

[0088] During the above calculation, the polishing apparatus controller 10 determines the three parameter values ​​so that the polishing force f, the rotation speed n, and the feed rate v applied by the tip of the rotary tool 4 become suitable or optimal values ​​in conjunction with each other, depending on the desired control amount (in other words, the target value, e.g., a constant value) for controlling, for example, the scratch spacing or the removal amount.

[0089] In the methods and systems of the first to third embodiments, the polishing apparatus controller 10 has the control function 1000 with the basic configuration described above. This allows the three parameter values ​​related to the rotary tool 4 to be simultaneously and interlocked and controlled to suitable or optimal values, thereby improving the precision of the polishing process.

[0090] FIG. 4 shows that position-based control is performed as a direct control from robot 1 (a macrosystem) to polishing apparatus 2 (a microsystem), as indicated by the arrows. The position, orientation, and feed rate v of the tip of the rotary tool 4 of polishing apparatus 2 are determined based on the position of the tip of robot 1. FIG. 4 also shows that polishing apparatus controller 10 provided for robot 1 and polishing apparatus 2 performs calculations such as an extended model based on monitor inputs from robot 1 and polishing apparatus 2, and controls three parameter values ​​of the rotary tool 4 in a coordinated manner. FIG. 4 also shows that polishing apparatus controller 10 outputs a command value corresponding to the coordinated control to polishing apparatus 2 as a result of the calculation process, thereby controlling the polishing force f, rotation speed n, and feed rate v of the rotary tool 4 in a coordinated manner. The dashed arrow from robot 1 to polishing apparatus 2 in FIG. 4 indicates the coordinated control and high-speed response achieved through polishing apparatus controller 10.

[0091] Regarding the control function 1000 with the above basic configuration, an example of the interlocking control of three parameter values ​​of the rotary tool 4, namely, the grinding force f, the rotation speed n, and the feed rate v, is briefly described as follows. Assume that there are, for example, a first, second, and third time points on the time series as control points. Assume that one parameter, the feed rate v, is a constant value, v1, on the time series. In this case, the controller 10 calculates and determines suitable values ​​for the other two interlocking parameters, the grinding force f and the rotation speed n, based on calculations using the extended model. For example, assume that at the first time point, the value of the grinding force f is f1 and the value of the rotation speed n is n1. The grinding apparatus controller 10 monitors or calculates the values ​​v1, f1, and n1 at the first time point.

[0092] Next, at a second time point, the polishing force f changes to a value f2, and the three values ​​are v1, f2, and n1. Using the values ​​v1, f2, and n1 at the second time point, the polishing apparatus controller 10 determines a suitable value n3 of the rotation speed n for control at the next, third time point, based on calculations of the extended model, linking the values ​​v1, f2, and n1. Similarly, the polishing apparatus controller 10 determines suitable values ​​of the feed rate v, polishing force f, and rotation speed n at each control time point in accordance with the desired control target, and performs feedback control.

[0093] In the above control example, the polishing force f is determined first, and then the rotation speed n is determined in accordance with the polishing force f, but this is not limiting, and it is also possible to determine the rotation speed n first, and then determine the polishing force f in accordance with the rotation speed n. Furthermore, similar control can be applied when the feed speed v changes.

[0094] The lower part of FIG. 4 also illustrates an example of a user interface 2000 for the polishing apparatus controller 10. The user interface 2000 may be implemented using an input / output device (e.g., a display device) or a computer system (e.g., a client PC) externally connected to the polishing apparatus controller 10, or the input / output device implementing the user interface 2000 may be built into the polishing apparatus controller 10. The user interface 2000 in FIG. 4 provides the user with, for example, a GUI (Graphical User Interface) screen, which allows the user to confirm and set robot configuration information 2001, polishing apparatus configuration information 2002, control setting information 2003, and the like. The user is a person who uses the robot polishing control system according to the embodiment. The screen may be implemented as, for example, a Web page.

[0095] The robot configuration information 2001 is information about the shape and structure of the links, arms, etc. of the robot 1, and is information necessary for calculating the position of the robot tip position P1, etc. The polishing device configuration information 2002 is information about the shape and structure of the polishing device 2, and is information necessary for calculating the position of the tool tip position P2, etc.

[0096] 4 may be pre-implemented internally as part of the design of the system. For example, such configuration information may be pre-set in a computer program, circuit, or the like that constitutes the control function 1000. In this case, the user does not need to set the robot configuration information 2001 or the polishing apparatus configuration information 2002. In the case of a system in which the configuration of the robot 1 or the polishing apparatus 2 can be changed, the change can be accommodated using the user interface 2000.

[0097] The control setting information 2003 is setting information relating to the content of the desired control by the control function 1000 of the polishing apparatus controller 10, and includes a scratch interval setting value xc (FIG. 8) and a removal amount setting value zc (FIG. 10), which will be described later. The user can check the control setting information 2003 and make user settings by operating the screen of the user interface 2000 (FIG. 7, which will be described later).

[0098] [Extended model of Preston's law] With reference to FIG. 5, Preston's law and a model based on an extension of the law (sometimes referred to as an extended model) will be described regarding the control function 1000 and the like with the basic configuration described above.

[0099] Preston's law is an empirical rule for polishing optical lenses. It states that the material removal height z (Figure 3) is proportional to the product of the pressure p between the tool and workpiece, the relative velocity v, and the processing time t. The top of Figure 5 illustrates Preston's law.

[0100] In the first embodiment and the like, an extended model of Preston's law is introduced and constructed in polishing processes such as rough polishing of metals where the relative velocity v is relatively high. The extended model is illustrated at the bottom of Figure 5. Here, Preston's law is extended using an exponent. The extended relationship and calculation formula are expressed by Equation 1. In Equation 1, K p is the Preston coefficient. α, β, and γ are weighting exponents (expansion parameters), respectively.

[0101] Equation 1: z=K p P α v β t γ

[0102] When Preston's law is applied to the processing conditions adjusted by the polishing robot, the pressure p is proportional to the polishing force f, the relative speed v is proportional to the rotation speed n, and the processing time t is proportional to the feed rate v. f Therefore, the relationship with the material removal height z is expressed by Equation 2.

[0103] Equation 2: z=kf α n β (1 / v f ) γ

[0104] Taking the logarithm of Equation 2 gives Equation 3. k in Equation 3 is the Preston coefficient K p are constants (extension parameters) corresponding to K, F, N, V f is k,f,n,v f is the logarithm of

[0105] Equation 3: z=K+αF+βN-γV f

[0106] When Equation 3 is expressed as a determinant (Z = AX), it becomes Equation 4 in Figure 5. In Equation 4, n is the number of samples, and in the linear regression model, Z is the dependent variable, X is the explanatory variable, and A is the regression parameter.

[0107] Robot polishing is performed under four or more different processing conditions, and the material removal height z is measured. Based on the measurement results, the regression parameter A is estimated. This allows the expansion parameters k, α, β, and γ to be identified. The identification equation is shown in Equation 5.

[0108] Equation 5: A=(X T X) -1 X T Z

[0109] The inventors performed robot polishing on metal plates, adjusting each processing condition to a constant value. Sixteen samples were prepared for the processed surface shape. Based on the results and the formula, the inventors identified the above-mentioned expansion parameters.

[0110] Fig. 6 is an explanatory diagram relating to the identification of the extension parameters. In the upper part of Fig. 6, an image diagram of polishing scratches on the surface of the object 9 shows, for example, three polishing scratch samples (#1 to #3), the tool feed direction, the removal depth direction, and the measurement direction.

[0111] The table in Figure 6 shows the sample numerical examples and the identification results of the extended parameters. f From the value of ,z, the values ​​of the expansion parameters k, α, β, γ were obtained.

[0112] As a result of extending Preston's law, we have obtained calculation formulas for simultaneously controlling the polishing force f, rotation speed n, and feed speed v, particularly the polishing force f and rotation speed n at the tip of the rotary tool 4, as three parameters of the polishing device 2, which is a microsystem, based on the position, posture, and feed speed, particularly the feed speed, as conditions and states of the robot 1, which is a macrosystem.

[0113] In the first to third embodiments, the polishing apparatus controller 10 performs calculations and controls based on the calculation formulas of the extended model to link command values ​​for the polishing force f and rotation speed n of the rotary tool 4 of the polishing apparatus 2 in accordance with the feed rate of the robot 1. A control function 1001 (FIG. 8) in the first embodiment described below performs feedback control to link and optimize the polishing force f and rotation speed n of the rotary tool 4 of the polishing apparatus 2 in accordance with the feed rate of the robot 1 so that the polishing scratch spacing becomes a desired amount. A control function 1002 (FIG. 10) in the second embodiment described below performs feedback control to link and optimize the polishing force f and rotation speed n of the rotary tool 4 of the polishing apparatus 2 in accordance with the feed rate of the robot 1 so that the polishing material removal amount becomes a desired amount.

[0114] In the first embodiment, the rotation speed n is set so that the feed amount d per rotation is the same for different feed speeds (control function 1001 in FIG. 8). When set in this way, the command value n of the rotation speed n is cmd The equation for v is expressed as Equation 6. f res is the feed rate v f Response value of d cmd is the command value of the feed amount d.

[0115] Equation 6: n cmd =v f res / dcmd

[0116] In the second embodiment, the polishing force f is set so that the material removal height z is the same for different feed rates and associated rotation speeds n (control function 1002 in FIG. 10). The formula for such setting is expressed as Equation 7. F cmd is the command value of the grinding force F. Z cmd is the command value of material removal height Z. N cmd is the command value for the rotation speed N. V f res is the response value of the feed rate V.

[0117] Formula 7: F cmd =(Z cmd -K-βN cmd +γV f res ) / α

[0118] [experiment] The inventors have actually conducted robotic polishing experiments on metal plates using a method and system that employs the above-described extended model.

[0119] Figure 16 shows the processing conditions and results of the experiment. As the experimental results, the top graph in Figure 16 shows the time [seconds] on the horizontal axis and the rotation speed n [min -1 ] and feed rate v [mm / s]. The second graph shows the horizontal axis as time [seconds] and the vertical axis as grinding force [N] (command value and response value). The table in Figure 16 shows the command value n of feed rate v and rotation speed n. cmd , the command value f of the polishing force f cmd , command value d of feed amount d cmd , the command value z of the material removal height z cmd For example, the feed rate per revolution d cmd is set to 30 μm, and the material removal height z cmd is set to 15 μm, and the feed rate v f res (V f cmd ) was set to three levels: 3.0, 4.5, and 5.0 mm / s.

[0120] As shown in the figure, the rotation speed n and polishing force f are controlled to be constant during each time period of three different feed rates v. It was confirmed that the command values ​​of each polishing processing condition (parameter) are linked according to the feed rate of the robot 1, and the response (rotation speed n and polishing force f) follows suit. For example, during the first feed rate v = 3.0 mm / s, the rotation speed n is 6000 min -1 , the polishing force f is 1.52N, and the rotation speed n is 9000 min -1 , the polishing force f is 1.03N, and at the third stage, the feed rate v = 6.0mm / s, the rotation speed n is 12000 min -1 , and the polishing force f is 0.78 N. At each of these feed rates v, the feed amount d is 30 μm and the removal amount z is 15 μm, which is the same for all of them. This result shows that the scratch spacing x and material removal height z in FIG. 3 are maintained constant, which is an effect of the first to third embodiments.

[0121] 17A shows the measurement results of the material removal height z corresponding to the above experiment, and in contrast, in FIG. 17B shows the measurement results of the material removal height z using the comparative example method. The inventors measured the material removal height z in the measurement direction for three polishing locations at three different feed rates v {3.0, 4.5, 5.0 mm / s} as shown in FIGS. 6 and 16. The graph in (A) shows the position in the measurement direction [mm] and the material removal height z [μm] on the horizontal axis and the material removal height z [μm] on the vertical axis, respectively, and shows the measured value of the material removal height z for each feed rate v as a result obtained from the command value of the interlocking control.

[0122] Graph (B) has the same vertical and horizontal axes as graph (A), and shows the results obtained with the constant control command values ​​in the comparative example. The constant control in the comparative example shows the case where the command values ​​of the polishing force f and the rotation speed n are controlled to the same constant values ​​for different feed rates v (e.g., three levels).

[0123] In the case of the comparative example (B), in the three polishing scratches corresponding to the three feed speeds v (FIG. 6), the material removal height z changes to increase as shown by the arrows on the graph, meaning that uniform polishing was not achieved. In contrast, in the case of the embodiment (A), in the three polishing scratches corresponding to the three feed speeds v (FIG. 6), the material removal height z is approximately constant as shown by the arrows on the graph, and it was confirmed that the measured values ​​of the material removal height z for each feed speed v are generally consistent. In other words, the robot polishing control method and the like of the embodiment can achieve uniform polishing.

[0124] FIG. 18 also shows an example of the results of polishing the surface of a workpiece. FIG. 18(A) shows the results of the comparative example of FIG. 17(B), and FIG. 18(B) shows the results of the method of the embodiment of FIG. 17(A) (particularly the control function 1003 of embodiment 3 described below). FIGS. 18(A) and 18(B) each show an enlarged view of the portion polished according to the above three feed rates. Compared to the comparative example of FIG. 18(A), the method of the embodiment of FIG. 18(B) results in more uniform scratch spacing and removal amount on the workpiece surface. This confirmed that surface quality and shape accuracy can be improved.

[0125] [Screen example] FIG. 7 shows an example of a user interface 2000 (FIG. 4) applicable to the first to third embodiments, in which a screen including a specific GUI is displayed on a display screen of an input / output device for the polishing apparatus controller 10. The screen of FIG. 7 has fields 701, 702, and 703 that display the robot configuration information 2001, polishing apparatus configuration information 2002, control setting information 2003, etc., of FIG. 4, and the user can confirm and set these fields. Field 701 displays the contents of the robot configuration information 2001, which can be confirmed and set. Field 702 displays the contents of the polishing apparatus configuration information 2002, which can be confirmed and set. Field 703 displays the contents of the control setting information 2003, which can be confirmed and set.

[0126] In the example screen of FIG. 7, the control setting information 2003 in the field 703 corresponds to the control function 1003 of the third embodiment (FIG. 12, described later). In the field 703, the application of the scratch interval control function 1001 of the first embodiment can be selectively turned on or off, and the scratch interval setting value xc (FIG. 8), which serves as the control amount, can also be set. In the field 703, the application of the removal amount control function 1002 of the second embodiment can be selectively turned on or off, and the removal amount setting value zc (FIG. 10), which serves as the control amount, can also be set. In addition to being able to input a constant value for the setting value, it is also possible to set a variable value (e.g., a linear function) by referencing a setting file. The setting file is a file in which, for example, a function representing the control amount, or a program or formula, is defined.

[0127] In the robot polishing control system according to the first embodiment and the like, a user can use the GUI on the screen of the user interface 2000 to set whether to apply scratch spacing control or removal amount control, and can also freely set the control amount, such as whether it is a constant value or a variable value. This allows for a variety of polishing processes. For example, in the case of rough polishing, the scratch spacing can be set relatively wide and the removal amount can be set relatively large, while in the case of finish polishing, the scratch spacing can be set relatively narrow and the removal amount can be set relatively small.

[0128] [Embodiment 1 - Scratch Spacing Control Function] 8 shows the configuration of the polishing scratch interval control function 1001 among the control functions 1000 of the polishing apparatus controller 10 in the first embodiment. Similar to FIG. 4, FIG. 8 illustrates the concept of the polishing scratch interval control function 1001 of the polishing apparatus controller 10 for the robot 1 and the polishing apparatus 2.

[0129] The robot polishing control system and method of the first embodiment constructs a model (also referred to as a scratch spacing model) for controlling the polishing scratch spacing as the aforementioned extended model, and enables prediction of the polishing scratch spacing based on this scratch spacing model. Based on this scratch spacing model, the control function 1001 of the polishing apparatus controller 10 performs interlocking control of the polishing force f, rotation speed n, and feed rate v as three parameter values ​​of the rotary tool 4 of the polishing apparatus 2 so as to control the polishing scratch spacing to a desired amount (for example, a constant value).

[0130] In the robot polishing control system and method of the first embodiment, the polishing device controller 10 performs feedback control by determining optimal values ​​for the polishing force f and the rotation speed n of the rotary tool 4 of the polishing device 2 in synchronization with each other so that the polishing scratch interval is controlled to, for example, a constant value in accordance with the feed rate of the rotary tool 4, which is set to correspond to the feed rate of the robot 1. The constant value, which is the amount of control of the scratch interval, is set as a scratch interval setting value xc, and the polishing device controller 10 refers to this setting value.

[0131] In the first embodiment, the polishing apparatus controller 10, as a linked control using the control function 1001, links three parameter values ​​of the polishing force f, the rotation speed n, and the feed rate v of the rotary tool 4 of the polishing apparatus 2 to determine optimal values ​​for polishing a target location on the surface of the object 9 with the tip of the rotary tool 4 so that the polishing scratch interval x ( FIG. 3 ) becomes a constant value at a target time on a time series. In this case, the polishing apparatus controller 10 determines the three parameter values ​​for keeping the scratch interval constant as a control target value based on calculations of the extended model, and performs feedback control on the polishing apparatus 2. This control function 1001 makes it possible to keep the polishing scratch interval constant, for example, thereby improving surface quality compared to prior art examples.

[0132] In the first embodiment, the feed rate of the tip of the rotary tool 4 of the polishing apparatus 2 is determined according to the feed rate of the tip of the robot 1, and for example, they are determined to be almost the same value. The rotation speed n (and the corresponding rotation speed) of the rotary tool 4 is determined based on an extended model calculation by the polishing apparatus controller 10, and is adjusted as the rotary tool 4 is driven by the rotary tool driver 52 based on control by a rotation command A7 from the polishing apparatus controller 10. The polishing force f of the rotary tool 4 is adjusted as the motor 31 is driven by the end effector 3 based on control by a current reference value A6 from the polishing apparatus controller 10.

[0133] The polishing force f is controlled based on estimation using an observer, which will be described later. Therefore, there is no need to provide a force sensor in the control system including the polishing apparatus 2, and a sensorless polishing module and system can be realized.

[0134] Specifically, in the first embodiment, the position, posture, and feed rate of the tip of the robot 1 (robot tip position P1 in FIG. 2) are determined based on the position-based control of the robot 1, and the position, posture, and feed rate of the tip of the rotary tool 4 (tool tip position P2 in FIG. 2) are determined according to the feed rate, etc., of the robot 1. Therefore, the polishing apparatus controller 10 determines the polishing force f and the rotation speed n, which are two parameter values ​​other than the feed rate v of the rotary tool 4, in conjunction with each other. In particular, in the control function 1001 of the first embodiment, the polishing apparatus controller 10 determines the optimal rotation speed n for different, variable feed rates v so that the feed amount d per rotation is equal.

[0135] The control function 1001 of the polishing apparatus controller 10 receives, as monitor input information, a link position response A4 from the robot controller 100, a rotation speed A8 from the rotary tool 4 of the polishing apparatus 2, and a position response A10 from the end effector 3.

[0136] Based on the calculations of the extended model described above (particularly Equation 6 in FIG. 5), the polishing apparatus controller 10 determines the rotation speed n, one of the three parameter values ​​(FIG. 3) of the rotary tool 4, for controlling the scratch interval x to a constant value as interlocking control according to the feed speed of the robot 1. In this case, the polishing apparatus controller 10 calculates the rotation speed n from the feed speed v of the rotary tool 4 and the scratch interval setting value xc. In the case of constant scratch interval control in the first embodiment, specifically, the rotation speed n is obtained from the feed speed v and the feed amount d based on Equation 6 in FIG. 5. That is, the command value for the rotation speed n is obtained by dividing the response value of the feed speed v by the command value for the feed amount d.

[0137] Furthermore, the polishing apparatus controller 10 calculates and determines the polishing force f to be linked to the feed rate v and the rotation speed n obtained by the above calculation.

[0138] The polishing apparatus controller 10 generates a rotation command A5 and a current reference value A6 as command values ​​corresponding to the rotation speed n and polishing force f obtained by the above calculations, and outputs these to the corresponding drivers, the rotary tool driver 52 and the end effector driver 51. The rotary tool driver 52 drives the rotary tool 4 in accordance with the rotation command A5 by controlling, for example, a current A7. The end effector driver 51 drives the motor 31 by controlling a current A9 in accordance with the current reference value A6, which serves as a reference current.

[0139] The control amount of the scratch interval x (not the feedback control amount (difference) but the target value) is not limited to a constant value and can be set to any set value within a possible range. In the first embodiment, by specifying and setting the set value xc of the scratch interval x as a variable value in the polishing apparatus controller 10, it is also possible to variably control the scratch interval x in a time series.

[0140] [Embodiment 1 - Functional Block] 9 shows an example of a functional block configuration related to the scratch interval control function 1001 of the polishing apparatus controller 10 according to the first embodiment. In FIG. 9, the polishing apparatus controller 10 has, as functional blocks, a robot monitor unit 111, a polishing apparatus monitor unit 112, a tool tip position calculation unit 113, an observer (reaction force estimation observer) 114, an extended model calculation unit 115, a scratch interval control unit 116A, a rotation speed control unit 117, a polishing force control unit 118, and a scratch interval control amount setting unit 119.

[0141] The robot monitor unit 111 receives as input the above-mentioned link position response A4 as predetermined information from the robot 1. The robot monitor unit 111 monitors by communication with the robot controller 100 via a predetermined communication interface.

[0142] The polishing apparatus monitor unit 112 inputs and receives the aforementioned rotation speed A8 and position response A10 as predetermined information from the polishing apparatus 2. The polishing apparatus monitor unit 112 monitors the polishing apparatus 2 and the driver through communication via a predetermined communication interface.

[0143] As for the details of the monitor, one method may be a method in which monitor information is transmitted and received in only one direction, for example, from the robot controller 100 to the polishing apparatus controller 10, based on a preset setting. Another method may be a method in which monitor information is transmitted and received in both directions, for example, a monitor request is transmitted from the polishing apparatus controller 10 to the robot controller 100, and a monitor response is transmitted from the robot controller 100 to the polishing apparatus controller 10.

[0144] The timing and cycle of monitoring each component by the polishing apparatus controller 10 may also be settable in this system using, for example, the user interface 2000.

[0145] The tool tip position calculation unit 113 calculates the position, posture, and feed rate at the tip of the rotary tool 4 (tool tip position P2 in FIG. 2) from the position, posture, and feed rate at the tip of the robot 1 (robot tip position P1 in FIG. 2) based on monitor input information from the robot 1, robot configuration information 2001, polishing device configuration information 2002 (FIG. 4), etc.

[0146] The observer (reaction force estimation observer) 114 estimates the grinding force f (reaction force) by the rotary tool 4 based on the monitor input information (position response A10) from the grinding apparatus 2, the current reference value A6, etc. The grinding force control unit 118 and the observer 114 may be integrated into one unit.

[0147] The extended model calculation unit 115 has a function of performing calculations based on Preston's law and the extended model as shown in Fig. 5. The extended model calculation unit 115 has a flaw interval control unit 116A. The flaw interval control unit 116A is a part that performs main control processing related to the flaw interval control function 1001 in Fig. 8.

[0148] The scratch interval control unit 116A receives the calculation result information from the tool tip position calculation unit 113 and the calculation result information from the observer 114, and also references the scratch interval setting value xc set in the scratch interval control amount setting unit 119A. Based on the extended model calculation, the scratch interval control unit 116A determines three parameter values ​​for controlling the scratch interval corresponding to the desired scratch interval control amount (scratch interval setting value xc) in response to the input information. In other words, the scratch interval control unit 116A determines the grinding force f, rotation speed n, and feed rate v of the rotary tool 4 in conjunction with each other as the three parameter values ​​for controlling the desired scratch interval so as to satisfy the extended model.

[0149] The rotation speed control unit 117 generates a command value for the rotation speed n for the rotary tool 4 in accordance with the rotation speed n determined by the scratch interval control unit 116A, and outputs and supplies the command value (rotation command A5) to the rotary tool driver 52.

[0150] The grinding force control unit 118 generates a command value for the grinding force f for the rotary tool 4 in accordance with the grinding force f determined by the scratch interval control unit 116A, and outputs and supplies the command value (current reference value A6) to the end effector driver 51.

[0151] The scratch interval control amount setting unit 119 sets and holds a control amount for scratch interval control desired by the user, for example, a scratch interval setting value xc such as a constant value. The setting can be performed using the user interface 2000 described above.

[0152] [Embodiment 1 - Signal Flow] 1, 8, 9, etc., the input / output and flow of signals and information to / from polishing apparatus controller 10 and polishing apparatus 2, the processing sequence between functional blocks, etc., in embodiment 1 will be described. First, polishing apparatus controller 10 inputs and sets in advance information representing the configuration of robot 1 (robot configuration information 2001 in FIG. 4) and information representing the configuration of polishing apparatus 2 (polishing apparatus configuration information 2002 in FIG. 4). For example, the user may input and set such information into polishing apparatus controller 10 using user interface 2000 in FIG. 4.

[0153] The robot configuration information 2001 includes link information of the robot 1 (information such as the rotation angle range of each link and the length of each part such as the arm) and the polishing apparatus configuration information 2002 includes information such as the structure, shape, and size of the end effector 3 and rotary tool 4 of the polishing apparatus 2. This information is also used when calculating the tool tip position P2 from the robot tip position P1 in FIG.

[0154] Furthermore, the polishing apparatus controller 10 inputs and sets control setting information (control setting information 2003 in FIG. 4) related to polishing process control in advance. In the case of the first embodiment in FIG. 9, the scratch interval control amount setting unit 119 presets a scratch interval setting value xc as a scratch interval control amount when controlling the scratch interval to, for example, a constant value.

[0155] The robot CAM 101 in Fig. 1 determines the tool path and the like for the movement of the robot 1 based on the polishing shape of the target object 9, and transmits, uploads, etc., an operation file (robot operation command A1 in Fig. 1) representing that movement to the robot controller 100. The robot controller 100 generates and transmits an operation command (link position command A2) to the robot 1 based on that operation file, and receives an operation response value (link position response A3) from the robot 1.

[0156] Meanwhile, the robot controller 100 transmits robot information (link position response A4) indicating the operation and state of the robot 1 to the polishing apparatus controller 10. This robot information includes angle information (horizontal, vertical, and around-axis angles) of each link of the robot 1 based on input / output information with the robot 1 (link position command A2, link position response A3). This robot information is transmitted, for example, every 1 ms. In other words, the polishing apparatus controller 10 (robot monitor unit 111 in FIG. 9) serves as a monitor and receives and acquires the robot information (link position response A4) from the robot controller 100 at that timing.

[0157] The grinding apparatus controller 10 (tool tip position calculation unit 113 in FIG. 9) calculates the position, posture, and feed rate of the tip (tool tip position P2) of the rotary tool 4 of the grinding apparatus 2 based on the above configuration information and monitor input information.

[0158] Furthermore, the polishing apparatus controller 10 (polishing apparatus monitor unit 112 in FIG. 9) serves as a monitor and receives and inputs information (rotational speed A8) indicating the measured rotational speed n of the rotary tool 4 and a position response A10 of the motor 31 (VCM) from the polishing apparatus 2, and reads the information. The transmission and reception of the rotational speed A8 and position response A10 information is performed, for example, every 0.2 ms.

[0159] In the robot polishing control system of embodiment 1 etc., the system is designed to have high responsiveness of the polishing apparatus 2, so that the transmission and reception of robot information (link position response A4) between the macro-side robot 1 and the transmission and reception of information on rotation speed A8 and position response A10 between the micro-side polishing apparatus 2 are carried out with a faster response, shorter cycle, and higher frequency than the former.

[0160] The polishing apparatus controller 10 uses a reaction force estimation observer 114 to perform calculations based on monitor input information and the like to estimate the polishing force f (in other words, reaction force, pressure, or pressing force) exerted by the rotary tool 4 of the polishing apparatus 2. The information required for the calculations of the observer 114 is the current reference value A6 and the position response A10, and the polishing force f can be estimated from these two pieces of information. In the case of using the observer 114, there is no need to provide the polishing apparatus 2 with a force sensor or the like.

[0161] The polishing apparatus controller 10 (extended model calculation unit 115 in FIG. 9) calculates a control variable based on the information obtained above, i.e., the position, posture, and feed rate of the tip of the rotary tool 4, the rotation speed A8, and the estimated polishing force f. In the case of the first embodiment, the scratch interval control unit 116, in particular, determines the rotation speed n as a control variable for controlling the scratch interval to a constant value by extended model calculation based on the above information and the scratch interval setting value xc. This rotation speed n as a control variable is a value to be newly commanded to the rotary tool 4 at the next timing; in other words, it is a control variable in feedback control of the rotation speed n.

[0162] In the case of only the control function 1001 in the first embodiment, that is, when it is only necessary to control the intervals between scratches to be constant, the intervals between scratches can be made constant by setting the feed rate of the rotary tool 4 to the same as that of the robot 1 and controlling only the rotation speed n to an appropriate value according to the feed rate. This calculation can be realized based on the formula 6 in FIG.

[0163] Based on the determined new rotation speed n, the polishing apparatus controller 10 transmits a command value (rotation command A5) for the rotation speed n to the rotary tool driver 52 via the rotation speed control unit 117 shown in FIG. 9. The rotary tool driver 52 supplies a drive signal (current A7) to the rotary tool 4 in accordance with the command value (rotation command A5). The rotary tool 4 is driven to rotate at the specified rotation speed n in accordance with the drive signal.

[0164] Furthermore, the grinding apparatus controller 10 transmits a command value for the grinding force f (current reference value A6) to the end effector driver 51 via the grinding force control unit 118 in FIG. 9 based on the grinding force f determined corresponding to the determined rotation speed n. The end effector driver 51 supplies a drive signal (current A9) to the motor 31 of the end effector 3 in accordance with the command value for the grinding force f (current reference value A6). The motor 31 drives the rotary tool 4 in accordance with the drive signal so as to achieve the specified grinding force f.

[0165] The drive control of the rotation speed n (rotation command A5, current A7) and the drive control of the polishing force f (current reference value A6, current A9) are performed at a predetermined timing, for example, every 0.2 ms.

[0166] The polishing apparatus controller 10 (e.g., the tool tip position calculation unit 113 or the observer 114) also has a function to calculate with high precision the position, posture, and feed rate of the tip of the rotary tool 4, as well as the polishing force f, as gravity compensation that takes into account the gravity and posture of the polishing apparatus 2 from the tip of the robot 1. It is more desirable to have such a gravity compensation function. The contact state between the tip of the rotary tool 4 and the machining surface of the object 9 can also be calculated with high precision using this weight compensation function.

[0167] [Effects of the First Embodiment] As described above, the robot polishing control method and system of the first embodiment incorporates the polishing apparatus controller 10, which links the control of the robot 1 (a macro system) with the control of the polishing apparatus 2 (a micro system). This method and system enable optimal control of all three parameters of Preston's law for polishing: force, speed, and time. Specifically, this method and system utilizes a new extended model based on Preston's law to simultaneously link the three parameters related to the rotary tool: polishing force, rotation speed, and feed rate, determining optimal or optimal values ​​and actively controlling them. This allows, for example, control to maintain consistent polishing scratch spacing, thereby improving the surface quality of the polished surface.

[0168] According to the robot polishing control method and system of the first embodiment, the intervals between scratches caused by the robot polishing can be controlled to be constant based on the control settings, and the intervals between scratches can also be freely controlled as a desired control amount (for example, a variable value), which enables a variety of polishing.

[0169] [About input / output interfaces and parameter items] The following provides a supplementary explanation of the input / output interface and parameter items between the polishing apparatus controller 10 and the polishing apparatus 2 or robot 1 in the first embodiment etc. First, the input / output parameter items for the polishing apparatus 2 in the first embodiment etc. can be the same as the input / output parameter items for conventional polishing apparatuses. In other words, the polishing apparatus 2 in the first embodiment etc. does not require special implementation to match the new polishing apparatus controller 10.

[0170] In the first embodiment and the like, the input and output to and from the grinding device 2 are such that, for the rotating tool 4 serving as the spindle, the input is a rotation command current A7 (FIG. 1), and the output is a rotation speed A8 (FIG. 1) that can be detected by an encoder (rotary encoder) provided on the rotating tool 4. Also, in the grinding device 2, the input to the motor 31 serving as the actuator is a current reference value A6 (current A9) for controlling the grinding force f, and the output is a position response A10.

[0171] Therefore, in the first embodiment and the like, the polishing apparatus 2 does not use different input / output parameter items from conventional ones, and the same polishing modules as conventional ones can be applied. When introducing the robot polishing control system shown in the first embodiment and the like, no special implementation is required in the polishing apparatus 2 itself, which has the advantage of being highly compatible with conventional end-user environments and easy to introduce.

[0172] Of course, as a modified example, a new polishing apparatus 2 may be applied that is equipped with functions (for example, functions related to monitoring, settings, etc.) that are compatible with the new polishing apparatus controller 10.

[0173] From the perspective of the polishing apparatus controller 10, the polishing apparatus controller 10 receives, as input values, output values ​​of conventionally existing parameter items via an existing input / output interface as a monitor from the robot 1 and the polishing apparatus 2. In this way, the polishing apparatus controller 10 grasps the state of the robot 1 and the polishing apparatus 2 based on these input values ​​and performs specific calculations based on the extended model.

[0174] In the first embodiment and the like, the polishing apparatus controller 10 outputs command values ​​for the rotation speed n and the polishing force f as specific output values ​​resulting from specific calculations based on the extended model. Then, signals corresponding to these are input as input values ​​to the end effector 3 and the rotary tool 4 of the polishing apparatus 2 via drivers (51, 52). This allows the polishing apparatus 2 to perform a specific polishing operation in which the values ​​of the polishing force f, the rotation speed n, and the feed rate v are linked.

[0175] 1, the input / output interface between the robot controller 100 of the robot 1 and the polishing apparatus controller 10 is shown as a one-way arrow from the robot controller 100 to the polishing apparatus controller 10. In other words, the polishing apparatus controller 10 only needs to monitor and input necessary information from the robot 1, and does not need to output anything from the polishing apparatus controller 10 to the robot controller 100. For example, it is not necessary to feed back any information from the polishing apparatus controller 10 to the robot controller 100, or for the robot controller 100 to correct the operation of the robot 1.

[0176] As a modified example, in addition to the one-way input and output described above, some kind of feedback or other information may be output from the polishing apparatus controller 10 to the robot controller 100. As one example, the polishing apparatus controller 10 may output to the robot controller 100 information similar to the information on the rotation speed n and polishing force f output to the polishing apparatus 2.

[0177] The system of the first embodiment and the like is a robot polishing system in which a polishing apparatus 2 is held at the tip of a robot 1 and polishes an object 9 with the tip of a rotary tool 4. In this system configuration, the parameter information includes, as described above, the position, orientation, and feed rate at the tip of the robot 1, as well as the position, orientation, polishing force f, rotation speed n, and feed rate v of the tip of the rotary tool 4 of the polishing apparatus 2. Other parameter information includes gravity information of the polishing apparatus 2 according to the position and orientation of the robot 1 and an estimated amount of wear on the tip of the rotary tool 4. The polishing apparatus controller 10 uses such gravity information and estimated amount of wear to calculate parameter values ​​for the rotary tool 4, thereby achieving higher-precision polishing.

[0178] The polishing apparatus controller 10 in the system of embodiment 1 and the like determines the position, posture, and feed rate of the robot 1 based on the monitored values ​​of the robot 1, and determines and calculates the polishing force f and rotation speed n of the polishing apparatus 2 based on the monitored values ​​of the polishing apparatus 2. Then, based on an extended model calculation using the parameter values ​​determined at a certain control point, the polishing apparatus controller 10 calculates the position, posture, feed rate, polishing force f, and rotation speed n of the tip of the rotary tool 4 for the desired control (e.g., constant scratch interval control) at the next control point. Specifically, the polishing force f and rotation speed n are determined in conjunction with the feed rate of the rotary tool 4, which corresponds to the feed rate of the robot 1.

[0179] Furthermore, the robot polishing control system of the first embodiment and the like is a system including a polishing apparatus 2 having an end effector 3 and a rotary tool 4, and a polishing apparatus controller 10 that controls the polishing apparatus 2. The end effector 3 is an end effector that can control the polishing force f to achieve quick force control, in other words, high responsiveness, for the robot 1, which is a macro system. Note that in the case of the first embodiment, i.e., when only scratch spacing control is required, the polishing apparatus 2 does not necessarily need to be equipped with an end effector 3. In the case of the second embodiment, i.e., when removal amount control is required, the end effector 3 provided in the polishing apparatus 2 is used. The polishing apparatus 2, which is a micro system, is a module having an end effector 3 that can simultaneously control both the polishing force and the rotation speed, particularly in the second embodiment.

[0180] As described above, the methods and systems of the first embodiment and the like are configured such that calculations for interlocking control are performed by the polishing apparatus controller 10, and therefore it is not essential to provide a force sensor or the like in the polishing apparatus 2. The polishing apparatus controller 10 is configured to perform calculations including an estimation of the polishing force f and to perform interlocking control based on the estimated polishing force f, thereby enabling quick force control.

[0181] In the example of the first embodiment (FIG. 8), the case where the scratch interval x is controlled to be constant has been described, but the present invention is not limited to this. It is basically sufficient if the scratch interval can be controlled to be constant for a certain period of time during polishing. However, the present invention is not limited to this. It is also possible to similarly realize a configuration in which the scratch interval is controlled to follow an arbitrary set variable value, such as a function (e.g., a linear function), for a certain period of time during polishing.

[0182] [Regarding polishing machine responsiveness] According to the robot polishing control method and system of embodiment 1, by using the polishing device controller 10, high responsiveness of the polishing device 2, which is a micro system, to the robot 1, which is a macro system, can be achieved, and based on this high-speed responsiveness, high-precision polishing processing can be achieved through linked control of the macro-micro system.

[0183] In the method and system of the first embodiment and the like, the polishing apparatus 2, which is a microsystem, is configured to have higher responsiveness (for example, the aforementioned input / output period) than the robot 1, which is a macrosystem, thereby realizing quick force control and rotation speed control. Note that responsiveness can be expressed or defined, for example, by the sampling period. As shown in the first embodiment and the like, it is preferable to configure the polishing apparatus 2, which is a microsystem, to have higher responsiveness than the robot 1, which is a macrosystem. As an example, if the responsiveness of the robot 1 is 1 millisecond, the responsiveness of the polishing apparatus 2 is 0.2 milliseconds (200 microseconds).

[0184] <Embodiment 2> A robot polishing control system and method according to embodiment 2 will be described with reference to Figures 10 and 11. The basic configuration of embodiment 2 etc. is the same as or common to embodiment 1, and the following mainly describes the components of embodiment 2 etc. that are different from embodiment 1.

[0185] The robot polishing control system and method of embodiment 2 are a system and method having a function (polishing removal amount control function 1002 in Figure 10) of controlling the polishing apparatus 2 from the polishing apparatus controller 10 so that the amount of material removed during polishing is a desired amount, for example a constant value.

[0186] The robot polishing control method of the second embodiment is a method having steps executed by a polishing apparatus controller 10 that controls a polishing apparatus 2 connected to the tip of the robot 1. The polishing apparatus 2 has an end effector 3 connected to the tip of the robot 1 and whose polishing force f is controlled, and a rotary tool 4 connected to the end effector 3 and whose rotation speed n is controlled, and is a device that polishes an object 9 with the tip of the rotary tool 4.

[0187] The robot polishing control method of embodiment 2 includes the steps of: a polishing apparatus controller 10 receiving information regarding the position, posture, and feed rate of the robot 1; a polishing apparatus controller 10 calculating the position, posture, and speed of the tip of the rotary tool 4 of the polishing apparatus 2 based on the received information (the position, posture, and feed rate of the robot 1); and a polishing apparatus controller 10 controlling the polishing force f by the end effector 3 as feedback control aimed at achieving a desired amount (e.g., a constant value) of material removal amount z (Figure 3) by polishing based on the calculated parameter values ​​(the position, posture, and speed of the tip of the rotary tool 4) and on calculations for controlling the polishing force f, rotation speed n, and feed rate v by the rotary tool 4 in conjunction with each other using an extended model of Preston's law.

[0188] In the second embodiment, the polishing apparatus 2 is provided with an end effector 3 whose polishing force f is controlled for the polishing removal amount control function 1002. In the second embodiment, the rotation speed n of the rotary tool 4 of the polishing apparatus 2 may be controlled by the end effector 3, but is not limited to this. In the second embodiment, if only constant control of the material removal amount z is required, it is sufficient to monitor at least the rotation speed n to monitor the state of the polishing apparatus 2. In other words, the rotary tool 4 of the polishing apparatus 2 in the second embodiment is sufficient as long as the rotation speed n can be monitored by the polishing controller 10.

[0189] In the polishing removal amount control function 1002 in embodiment 2, of the three parameters of the polishing force f, rotation speed n, and feed rate v of the rotary tool 4, the rotation speed n is used as monitor input information, and the polishing apparatus controller 10 controls the polishing force f by the end effector 3 in conjunction with the feed rate v of the rotary tool 4 so that the material removal amount z is, for example, constant.

[0190] [Embodiment 2 - Removal amount control function] FIG. 10 shows the configuration of the polishing removal amount control function 1002 by the polishing apparatus controller 10 in the robot polishing control method and system according to the second embodiment, similar to FIG.

[0191] The robot polishing control method and system of the second embodiment constructs an extended model (also referred to as a material removal amount model) for controlling the material removal amount z (FIG. 3) during polishing. This method and system enable prediction of the material removal amount z based on this extended model. The polishing apparatus controller 10 implements coordinated control of three parameter values ​​of the rotary tool 4 of the polishing apparatus 2, namely, the polishing force f, the rotation speed n, and the feed rate v, so as to control the material removal amount z to a desired amount, e.g., a constant value. This coordinated control determines suitable or optimal values ​​for the three parameter values ​​of the polishing force f, the rotation speed n, and the feed rate v of the rotary tool 4 of the polishing apparatus 2, for example, so that the material removal amount z is constant over time with respect to polishing of the workpiece surface by the tip of the rotary tool 4. This enables the shape accuracy of polishing to be improved compared to prior art examples.

[0192] For example, when performing constant removal amount control, the polishing apparatus controller 10 determines the polishing force f for maintaining the material removal amount z constant based on monitoring and extended model calculations, generates a command value corresponding to the polishing force f, and outputs / supplies the command value (current reference value A6) to the end effector driver 51.

[0193] The polishing apparatus controller 10 receives as inputs a monitor input value (link position response A4) from the robot controller 100, as well as information from the polishing apparatus 2, such as the rotation speed n of the rotary tool 4 (rotation speed A8, position response A10). The polishing apparatus controller 10 calculates the feed speed v of the rotary tool 4 based on the link position response A4. The polishing apparatus controller 10 determines, based on calculations of the extended model, one of three parameters of the rotary tool 4 for controlling the material removal amount z to a constant value, as interlocking control according to the feed speed of the robot 1. In this case, the polishing apparatus controller 10 calculates and determines the polishing force f from the feed speed v of the rotary tool 4, which is determined according to the feed speed of the robot 1, and a removal amount set value zc. The removal amount set value zc can be set, for example, via the user interface 2000.

[0194] Furthermore, the polishing apparatus controller 10 calculates and determines the rotation speed n to be linked to the feed rate v and the polishing force f. In the case of constant removal amount control in the second embodiment, the rotation speed n can be freely set. The polishing apparatus controller 10 outputs command values ​​(rotation command A5, current reference value A6) corresponding to the calculated rotation speed n and polishing force f to the driver.

[0195] In the case of constant removal amount control in the second embodiment, specifically, the polishing force f (corresponding to F cmd ) is the removal amount setting value zc (corresponding Z cmd ), feed rate v (corresponding V f res ), rotation speed n (corresponding N cmd ), and the expansion parameters (K, α, β, γ).

[0196] In addition, in the case of only the removal amount control function 1002 in embodiment 2, that is, when it is only necessary to control the material removal amount z to a constant value, the feed rate of the robot 1 and the rotation speed n of the rotary tool 4 can be monitored, and the feed rate of the rotary tool 4 can be made approximately the same as the feed rate of the robot 1, and the polishing force f can be controlled to an appropriate value depending on the rotation speed n and the feed rate, thereby making it possible to keep the material removal amount z approximately constant.

[0197] In the second embodiment, the material removal amount z (depth or height) can be set to any set value within a possible range. By specifying and setting the removal amount set value zc as a variable value in the polishing apparatus controller 10, it is also possible to variably control the material removal amount z over time.

[0198] [Embodiment 2 - Functional Blocks] 11 shows an example of a functional block configuration of the polishing removal amount control function 1002 of the polishing apparatus controller 10 in the second embodiment. The configuration overview of FIG. 11 is the same as that of FIG. 9, except that the extended model calculation unit 115 has a removal amount control unit 116B instead of the scratch interval control unit 116A, and a removal amount control amount setting unit 119B instead of the scratch interval control amount setting unit 119A. The removal amount control unit 116B is a part that performs main processing related to the polishing removal amount control function 1002. The removal amount control amount setting unit 119B sets and holds the control amount / set value of the material removal amount z (removal amount set value zc in FIG. 10).

[0199] The removal amount control unit 116B inputs calculation result information from the tool tip position calculation unit 113 and calculation result information from the observer 114, and also references the removal amount set value zc set in the removal amount control amount setting unit 119B. Based on the extended model calculation, the removal amount control unit 116B determines three parameter values ​​for controlling the material removal amount corresponding to the desired removal amount control amount (removal amount set value zc) for the input information. In other words, the removal amount control unit 116B determines the grinding force f, rotation speed n, and feed rate v of the rotary tool 4 in conjunction with each other as the three parameter values ​​for controlling the desired removal amount so as to satisfy the extended model.

[0200] 11 determines the polishing force f as a control variable for controlling the material removal amount z to a constant value based on the removal amount set value zc, etc., by performing an extended model calculation. The polishing force f as a control variable is a value to be newly commanded to the motor 31 of the end effector 3 at the next timing, in other words, it is a motor current value (current reference value A6, current A9) as a control variable in the feedback control of the polishing force f.

[0201] Based on the new polishing force f determined above, the polishing apparatus controller 10 transmits a command value for the polishing force f (current reference value A6) to the end effector driver 51 via the polishing force control unit 118 in FIG. 11. The end effector driver 51 supplies a drive signal (current A9) to the motor 31 of the end effector 3 in accordance with the command value for the polishing force f (current reference value A6). The motor 31 drives the rotary tool 4 in accordance with the drive signal so as to achieve the specified polishing force f.

[0202] In the example of the second embodiment (FIG. 10), the case where the amount of material removal z is controlled to be constant has been described, but this is not limiting. It is basically sufficient if the amount of material removal z can be controlled to be constant over a certain period of time during polishing. However, this is not limiting, and a form in which the amount of material removal z is controlled to follow an arbitrary set variable value, such as a function (e.g., a linear function), over a certain period of time during polishing can also be realized.

[0203] [Effects of the second embodiment] As described above, according to the robot polishing control method and system of embodiment 2, by linking the control of the robot 1, which is a macro system, with the control of the polishing device 2, which is a micro system, and by linking and actively controlling all three parameters of Preston's law for polishing, namely pressure, speed, and time, simultaneously, it is possible to achieve control that keeps the amount of material removed by polishing constant, for example, z, thereby improving the shape accuracy of polishing.

[0204] <Third Embodiment> 12 and 13, a robot polishing control system and method according to the third embodiment will be described. The robot polishing control system and method according to the third embodiment corresponds to a configuration in which both the polishing scratch interval control function 1001 (FIG. 8) according to the first embodiment and the polishing removal amount control function 1002 (FIG. 10) according to the second embodiment are integrated into one function. That is, in the robot polishing control system and method according to the third embodiment, the polishing apparatus controller 10 has a control function 1003 as shown in FIG. 12.

[0205] The robot polishing control system and method of the third embodiment simultaneously controls both the scratch spacing x and the material removal amount z (FIG. 3). In this case, the polishing apparatus controller 10 controls three parameter values ​​of the rotary tool 4 of the polishing apparatus 2, i.e., the polishing force f, the rotation speed n, and the feed rate v, based on monitoring and extended model calculations, so that the polishing scratch spacing x on the object 9 is constant, for example, and the material removal amount z is constant, for example.

[0206] [Embodiment 3 - Scratch Spacing and Removal Amount Control Function] 13 is an explanatory diagram of the scratch spacing and removal amount control function 1003, which is a control function 1003 of the polishing apparatus controller 10 in embodiment 3. The control function 1003 of the polishing apparatus controller 10 is a function that determines the polishing force f, rotation speed n, and feed rate v as three parameter values ​​of the rotary tool 4 in conjunction with each other, based on monitoring and extended model calculations, so as to control the scratch spacing x to a desired amount (e.g., a constant value) and the material removal amount z to a desired amount (e.g., a constant value).

[0207] The processing performed by the control function 1003 of the polishing apparatus controller 10 is outlined below. First, the control function 1003 has a step of calculating and determining the feed rate v of the rotary tool 4 from the feed rate of the robot 1. Next, the control function 1003 has a step of determining the rotation speed n for controlling the scratch interval x to a constant value, in accordance with the feed rate v of the rotary tool 4, using a calculation similar to that performed by the control function 1001 in the first embodiment described above. Next, the control function 1003 has a step of determining the polishing force f for controlling the material removal amount z to a constant value, in accordance with the feed rate v and rotation speed n of the rotary tool 4, using a calculation similar to that performed by the control function 1002 in the second embodiment described above.

[0208] The control function 1003 then has a step of generating command values ​​corresponding to the determined feed rate v, rotation speed n, and polishing force f of the rotary tool 4, and outputting them to the corresponding drivers. Thereafter, the control function 1003 repeats the feedback control at each timing in the same manner based on monitoring responses from the robot 1 and the polishing device 2. As a result, feedback control is continuously performed with the goal of maintaining, for example, constant values ​​for the scratch interval x and the material removal amount z.

[0209] [Embodiment 3 - Functional Blocks] FIG. 13 shows an example of the functional block configuration of control function 1003 of polishing apparatus controller 10 in embodiment 3. The configuration overview of FIG. 13 is similar to that of FIGS. 9 and 11, and is an integrated configuration of these. The polishing apparatus controller 10 in FIG. 13 differs in that it includes a control unit 116C in the extended model calculation unit 115 and also includes a control amount setting unit 119C. The control unit 116C is a part that performs main processing related to control function 1003. The control amount setting unit 119C sets and holds both the control amount setting value for scratch interval x (the aforementioned scratch interval setting value xc) and the control amount setting value for material removal amount z (the aforementioned removal amount setting value zc).

[0210] The bottom of FIG. 13 also illustrates an overview of the processing within the control unit 116C. The overview of the processing includes, in order, a rotary tool feed rate calculation 1301, a scratch spacing control rotational speed calculation 1302, and a removal amount control polishing force calculation 1303. The rotary tool feed rate calculation 1301 determines or calculates the feed rate v of the tip of the rotary tool 4 in accordance with the feed rate of the tip of the robot 1. Simply put, the feed rate v of the tip of the rotary tool 4 may be determined to be the same as the feed rate of the tip of the robot 1. The scratch spacing control rotational speed calculation 1302, as in the first embodiment, calculates the rotation rate n for controlling the scratch spacing to a desired amount (scratch spacing set value xc). The removal amount control polishing force calculation 1303, as in the second embodiment, calculates the polishing force f for controlling the removal amount to a desired amount (removal amount set value zc) in conjunction with the rotation rate n.

[0211] In the case of embodiment 3, the interlocking control by control function 1003 is a feedback control that combines the feedback control regarding the scratch interval x and the rotation speed n by scratch interval control function 1001 of embodiment 1 and the feedback control regarding the material removal amount z and polishing force f by removal amount control function 1002 of embodiment 2. The control unit 116C of the extended model calculation unit 115 in Fig. 13 performs this feedback control.

[0212] [Effects of the Third Embodiment] As described above, according to the robot polishing control method and system of the third embodiment, the control of the robot 1, which is a macro system, and the control of the polishing device 2, which is a micro system, are linked together to simultaneously and actively control all three parameters of Preston's law for polishing, namely force, speed, and time, in a linked manner. This makes it possible to achieve, for example, control that keeps the polishing scratch spacing x and material removal amount z constant, thereby improving the surface quality and shape accuracy of the polishing.

[0213] As described above, in the first to third embodiments, the polishing apparatus controller 10 generates command values ​​for the coordinated control of the polishing force f and rotation speed f of the rotary tool 4 based on monitor input information from the robot 1 and the polishing apparatus 2, and performs feedback control by outputting the command values ​​to the polishing apparatus 2 via a driver. This allows the polishing force f, rotation speed f, and feed rate v of the tip of the rotary tool 4 in robot polishing to be coordinated and appropriately or optimally controlled.

[0214] <Modification> The present invention is not limited to the above-described first to third embodiments, and various modifications are possible, examples of which are given below.

[0215] [Variation: Implementation of the polishing machine controller] In the first embodiment and the like, as shown in FIG. 1 , the polishing apparatus controller 10 is provided independently and externally to the polishing apparatus 2 and the robot controller 100, but the present invention is not limited to this configuration. For example, at least some of the functions of the polishing apparatus controller 10 may be implemented in the polishing apparatus 2. In this case, a processor or the like provided in the polishing apparatus 2 may perform processing related to the partial functions. Alternatively, all of the functions of the polishing apparatus controller 10 may be integrated into the polishing apparatus 2. Alternatively, at least some of the functions of the polishing apparatus controller 10 may be implemented in the robot controller 101, or all of the functions of the polishing apparatus controller 10 may be integrated into the robot controller 101.

[0216] FIG. 14 shows the configuration of a modified robot polishing control system. In the robot polishing control system of FIG. 14, a polishing apparatus controller 10 (having, for example, the same control function 1003 as in embodiment 3) and drivers 51 and 52 are integrated into the polishing apparatus 2. Even with this modified example, the same effects as in embodiments 1 to 3 can be achieved. In this modified example, the tip of the robot 1 is provided with the polishing apparatus controller 10 integrated with the polishing apparatus 2 in the form of, for example, an electronic circuit board. Therefore, it is more preferable that the polishing apparatus controller 10 calculates the parameter values ​​of the rotary tool 4 taking into account its own weight, etc.

[0217] Fig. 15 shows the configuration of another modified robot polishing control system. In the robot polishing control system of Fig. 15, a polishing apparatus controller 10 (having, for example, the same control function 1003 as in embodiment 3) is implemented as an integrated unit in a robot controller 100. Even with this modified example, the same effects as in embodiments 1 to 3 can be achieved. In this modified example, the robot controller 100 and the polishing apparatus controller 10 may cooperate more directly, or the robot controller 100 and the polishing apparatus controller 10 may be implemented as a single integrated controller.

[0218] [Variation: Driving method of rotary tool of polishing device] In the first embodiment and others, the drive method and implementation of the rotary tool 4 by the end effector 3 of the polishing apparatus 2 are based on current control, but this is not limiting. As another example, the interlocking control of the present disclosure can be similarly applied even when the drive method and implementation are based on air pressure. In other words, in a modified example using such an implementation, the drive value can be determined from the three parameter values ​​determined based on the calculations of the extended model so as to match the parameters (e.g., air pressure) of the drive system, such as the driver and actuator, in that implementation.

[0219] [Modification: Force sensor] In the first embodiment and the like, the polishing apparatus 2 is configured without a force sensor or the like, and active polishing control is achieved based on the calculations of the aforementioned extended model even without the force sensor or the like. This is not limiting, and as a modified example, the polishing apparatus 2 may be configured to additionally include a force sensor or the like, and the interlocking control of the present disclosure can be similarly achieved with this configuration. In the first embodiment and the like, the polishing apparatus controller 10 estimates the polishing force f of the rotary tool 4 using the observer 114 and performs calculations for interlocking control based on the extended model using the estimated polishing force f. In contrast, in a modified example, the polishing apparatus 2 passively detects the state of the polishing force f of the rotary tool 4 using a force sensor or the like, and the polishing apparatus controller 10 inputs a detection signal representing the detected polishing force f. The polishing apparatus controller 10 performs interlocking control based on the calculations of the extended model using the polishing force f represented by the detection signal.

[0220] Although the embodiments of the present disclosure have been specifically described above, they are not limited to the above-described embodiments and can be modified in various ways without departing from the spirit of the present disclosure. Except for essential components, components can be added, deleted, or replaced in each embodiment. Unless otherwise specified, each component can be singular or plural. A combination of each embodiment is also possible. [Explanation of symbols]

[0221] 1...Robot, 2...Polishing device, 3...End effector, 31...Motor, 32...Encoder, 4...Rotary tool, 9...Object (workpiece), 10...Polishing device controller (control device), 51...End effector driver, 52...Rotary tool driver, 100...Robot controller, 101...Robot CAM, 102...CAD model, 1000...Control function, 1001...Polishing scratch interval control function, 1002...Polishing removal amount control function.

Claims

1. A robot polishing control method for controlling a polishing device connected to a robot, comprising: The polishing device is a device that controls the rotation speed and polishes an object with a tip, a step executed by a control device that controls the polishing apparatus, which is a micro system, in conjunction with the robot, which is a macro system, and that is provided separately from a robot controller that controls the robot, the control device receiving information regarding the position, orientation, and feed rate of the robot from the robot controller; a step of the control device calculating a position, an attitude, and a feed rate of the tip of the polishing device based on the received information on the position, attitude, and feed rate of the robot; the control device performs calculations for controlling the polishing force, rotation speed, and feed speed of the polishing device in a coordinated manner based on the calculated position, attitude, and feed speed of the tip of the polishing device, and outputs a command to the polishing device based on the calculated polishing force, rotation speed, and feed speed; A robot polishing control method comprising:

2. A robot polishing control method executed by a control device that controls a polishing device connected to a robot, comprising: the polishing device has a rotary tool whose rotation speed is controlled, and polishes an object with a tip of the rotary tool, the controller receiving information regarding the position, orientation, and feedrate of the robot; a step in which the control device calculates the position, orientation, and feed rate of the tip of the rotary tool of the polishing device based on the received information on the position, orientation, and feed rate of the robot; the control device controls the rotation speed of the rotary tool based on the calculated position, orientation, and feed speed of the tip of the rotary tool, and based on calculations for controlling the polishing force, rotation speed, and feed speed of the rotary tool in conjunction with each other by extending Preston's law, as feedback control aimed at making the polishing scratch interval a desired amount, so that the feed amount per rotation of the rotary tool of the polishing device is a desired amount in accordance with the feed speed of the robot, and outputs a command to the polishing device; A robot polishing control method comprising:

3. A robot polishing control method executed by a control device that controls a polishing device connected to a robot, comprising: the polishing device has an end effector connected to the robot and having a polishing force controlled, and a rotary tool connected to the end effector and having a rotation speed controlled, and is a device that polishes an object with a tip of the rotary tool, a step in which the control device receives information regarding the position, posture, and feed rate of the robot, and receives information regarding the rotation speed of the rotary tool; a step in which the control device calculates the position, orientation, and feed rate of the tip of the rotary tool of the polishing device based on the received information on the position, orientation, and feed rate of the robot; the control device controls the polishing force of the end effector based on the calculated position, orientation, and feed rate of the tip of the rotary tool, and based on calculations for controlling the polishing force, rotation speed, and feed rate of the rotary tool in conjunction with each other by Preston's law or an extension of Preston's law, and outputs a command to the polishing device as feedback control aimed at achieving a desired amount of removal by polishing, in accordance with the feed rate of the robot and the controlled rotation speed of the rotary tool; A robot polishing control method comprising:

4. 3. The robot polishing control method according to claim 2, the polishing apparatus includes an end effector connected to the robot and having a polishing force controlled therefor, and the rotary tool connected to the end effector; The controlling step includes: the control device, based on the calculated position, attitude, and feed rate of the tip of the rotary tool, and based on calculations for controlling the grinding force, rotation speed, and feed rate of the rotary tool in a coordinated manner according to Preston's law or an extension of Preston's law, As a feedback control for aiming at a desired amount of scratch intervals and a desired amount of removal by polishing, controlling the number of rotations of the rotary tool of the polishing device so that the feed amount per rotation of the rotary tool is a desired amount according to the feed speed of the robot; and controlling the polishing force of the end effector so as to achieve a desired removal amount in accordance with the feed speed of the robot and the controlled rotation speed of the rotary tool; a step of outputting a command to the polishing apparatus; Robot polishing control method.

5. A robot polishing control system including a polishing device connected to a robot and controlling the polishing device, The polishing device is a device that controls the rotation speed and polishes an object with a tip, a control device that controls the polishing apparatus, which is a micro system, in conjunction with the robot, which is a macro system, and that is provided separately from a robot controller that controls the robot; The control device receiving information about the position, orientation, and feed rate of the robot from the robot controller; calculating the position, orientation, and feed rate of the tip of the polishing device based on the received information on the position, orientation, and feed rate of the robot; performing calculations for controlling the polishing force, rotation speed, and feed speed of the polishing device in a coordinated manner based on the calculated position, attitude, and feed speed of the tip of the polishing device, and outputting a command to the polishing device based on the calculated polishing force, rotation speed, and feed speed; Robot polishing control system.

6. A robot polishing control system comprising: a polishing device connected to a tip of a robot; and a control device that controls the polishing device, the polishing device has a rotary tool whose rotation speed is controlled, and polishes an object with a tip of the rotary tool, The control device receiving information about the position, orientation, and feedrate of the robot; calculating the position, orientation, and feed rate of the tip of the rotary tool of the polishing device based on the received information on the position, orientation, and feed rate of the robot; Based on the calculated position, posture, and feed rate of the tip of the rotary tool, and based on calculations for controlling the polishing force, rotation speed, and feed rate of the rotary tool in conjunction with each other by extending Preston's law, a command is output to the polishing device by controlling the rotation speed of the rotary tool so that the feed rate per rotation of the rotary tool of the polishing device is a desired amount in accordance with the feed rate of the robot, as feedback control aimed at making the polishing scratch interval a desired amount. Robot polishing control system.

7. A robot polishing control system comprising: a polishing device connected to a tip of a robot; and a control device that controls the polishing device, the polishing device has an end effector connected to the robot and having a polishing force controlled, and a rotary tool connected to the end effector and having a rotation speed controlled, and is a device that polishes an object with a tip of the rotary tool, The control device receiving information about the position, posture, and feed rate of the robot; and receiving information about the rotation speed of the rotary tool; calculating the position, orientation, and feed rate of the tip of the rotary tool of the polishing device based on the received information on the position, orientation, and feed rate of the robot; based on the calculated position, posture, and feed rate of the tip of the rotary tool, and based on calculations for controlling the polishing force, rotation speed, and feed rate of the rotary tool in conjunction with each other by Preston's law or an extension of Preston's law, the polishing force of the end effector is controlled as feedback control aiming to achieve a desired amount of removal by polishing, so that the desired amount of removal is achieved in accordance with the feed rate of the robot and the controlled rotation speed of the rotary tool, and a command is output to the polishing device. Robot polishing control system.

8. 7. The robot polishing control system according to claim 6, the polishing apparatus includes an end effector connected to the robot and having a polishing force controlled therefor, and the rotary tool connected to the end effector; The control device Based on the calculated position, posture, and feed rate of the tip of the rotary tool, and based on calculations for controlling the grinding force, rotation speed, and feed rate of the rotary tool in conjunction with each other by Preston's law or an extension of Preston's law, As a feedback control for aiming at a desired amount of scratch intervals and a desired amount of removal by polishing, controlling the number of rotations of the rotary tool of the polishing device so that the feed amount per rotation of the rotary tool is a desired amount according to the feed speed of the robot; and controlling the polishing force of the end effector so as to achieve a desired removal amount in accordance with the feed speed of the robot and the controlled rotation speed of the rotary tool; outputting a command to the polishing device; Robot polishing control system.

9. A robot polishing control program for controlling a polishing device connected to a tip of a robot, The polishing device is a device that controls the rotation speed and polishes an object with a tip, a program for causing a control device that controls the polishing apparatus, which is a micro system, to execute processing in conjunction with the robot, which is a macro system, and that is provided separately from a robot controller that controls the robot; a process in which the control device receives information regarding the position, orientation, and feed rate of the robot from the robot controller; a process in which the control device calculates the position, orientation, and feed rate of the tip of the polishing device based on the received information on the position, orientation, and feed rate of the robot; a process in which the control device performs calculations for controlling the polishing force, rotation speed, and feed speed of the polishing device in a coordinated manner based on the calculated position, attitude, and feed speed of the tip of the polishing device, and outputs a command to the polishing device based on the calculated polishing force, rotation speed, and feed speed; A robot polishing control program for executing the above.

10. A robot polishing control program for causing a control device that controls a polishing device connected to the tip of a robot to execute processing, comprising: the polishing device has a rotary tool whose rotation speed is controlled, and polishes an object with a tip of the rotary tool, the controller receiving information about the position, orientation, and feedrate of the robot; a process in which the control device calculates the position, orientation, and feed rate of the tip of the rotary tool of the polishing device based on the received information on the position, orientation, and feed rate of the robot; a process in which the control device controls the rotation speed of the rotary tool to set the feed amount per rotation of the rotary tool of the polishing device to a desired amount in accordance with the feed speed of the robot, as feedback control aimed at setting the polishing scratch interval to a desired amount, based on the calculated position, orientation, and feed speed of the tip of the rotary tool and on calculations for controlling the polishing force, rotation speed, and feed speed of the rotary tool in conjunction with each other by an extension of Preston's law, and outputs a command to the polishing device; A robot polishing control program for executing the above.

11. A robot polishing control program for causing a control device that controls a polishing device connected to the tip of a robot to execute processing, the polishing device has an end effector connected to the robot and having a polishing force controlled, and a rotary tool connected to the end effector and having a rotation speed controlled, and is a device that polishes an object with a tip of the rotary tool, a process in which the control device receives information regarding the position, posture, and feed rate of the robot, and receives information regarding the rotation speed of the rotary tool; a process in which the control device calculates the position, orientation, and feed rate of the tip of the rotary tool of the polishing device based on the received information on the position, orientation, and feed rate of the robot; a process in which the control device controls the polishing force of the end effector based on the calculated position, orientation, and feed rate of the tip of the rotary tool, and based on calculations for controlling the polishing force, rotation speed, and feed rate of the rotary tool in conjunction with each other using Preston's law or an extension of Preston's law, as feedback control aiming to achieve a desired amount of removal by polishing, and outputs a command to the polishing device in accordance with the feed rate of the robot and the controlled rotation speed of the rotary tool; A robot polishing control program for executing the above.

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