The invention relates to a method for controlling an automated orbital sander, in which method an electrically powered orbital sander is moved around automatically, at constant pressure, over the surface of an object, along at least one predefined sanding path so as to perform sanding, characterized in that the instantaneous power consumed by the sander along the sanding path is measured and in that the measurement thus taken is processed in order to deduce therefrom information regarding the level of abrasion along said path and/or to detect any sanding incident that has occurred along the latter.

An apparatus for automated machining, such as grinding, cutting and/or deburring, of workpieces, in particular of cast components, e.g., of wind turbines. For this purpose, the apparatus comprises a motor spindle for machining the workpiece, the motor spindle having a tool interface for receiving a tool for the machining operation. Moreover, the motor spindle is designed, in particular, to change a tool automatically. In addition, the apparatus comprises a robot for holding and guiding the motor spindle, and a control unit for controlling the motor spindle and the robot. The disclosure additionally relates to a method for automated machining of workpieces.

A master-slave system includes: a master unit including an operation end, an operation detector that detects operational information inputted by a force being applied to the operation end, and a force applier that gives a force to the operation end; a slave unit including an action part, and an operation part that moves the action part; and a control device. The control device outputs, according to a regulating condition and the operational information, a command for causing the operation part to operate the action part to carry out operation reflecting the regulating condition. The control device outputs, according to the regulating condition, a command for causing the force applier to give a force to the operation end against the input to the operation end that commands the given movement of the action part.