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.

A combined electric tool coordination system includes a main tool (4) and an auxiliary tool (1). The main tool (4) and the auxiliary tool (1) coordinate for working. A load detection module (E1) is used to detect a load parameter that is generated when the main tool (4) operates, and send the load parameter to a central control module (E2). The central control module (E2) adjusts output power of the auxiliary tool (1). The central control module (E2) controls power of the auxiliary tool (1) to increase as the load parameter of the main tool (4) increases and decrease as the load parameter decreases. An automatic adjustment function of the auxiliary tool (1) is applied to a dust collector (1). When power of the main tool (4) increases, more dust and scraps are generated, suction of the dust collector (1) is automatically adjusted to be higher, and the demand of a large quantity of dust is satisfied; and when the power of the main tool (4) decreases, less dust and scraps are generated, power of the dust collector (1) automatically decreases, the suction is reduced, and the demand of a small quantity of dust is satisfied.

The occurrence of grinding unevenness is prevented even when the movement speed of a robot is changed. Provided is a grinding robot system including: a motor-driven grinder that performs grinding; a robot that grinds a grinding target by means of the grinder in a state in which one of the grinder or the grinding target is attached to a distal end thereof and is moved, and the other is set at a fixed position; and a control unit that controls the robot and the grinder, wherein the control unit calculates a rotational-speed command value for the grinder that changes according to the movement speed of the distal end of the robot and controls the rotational speed of the grinder on the basis of the calculated rotational-speed command value.

A robot includes a robot arm, a force sensor, and a control unit configured to control the operation of the robot art. The control unit initializes the force sensor while the robot arm is moving at uniform speed. It is preferable that the control unit initializes the force sensor while the robot arm is moving at the uniform speed and the amplitude of a detection value of the force sensor is smaller than a threshold.

A method for abrading a surface of a workpiece by means of an abrasion machine, including the following steps: (a) acquiring, with at least one sensor, on at least one portion of the surface of the workpiece, data in relation to at least one characteristic of the workpiece in at least two basic zones defined on the surface, processing, for each basic zone, the data in relation to the at least one characteristic in order to assign, to each basic zone and/or at least one group of basic zones, a value for this characteristic, determining and/or adjusting at least one abrasion parameter for the abrasion machine and/or an abrasion trajectory in accordance with the values attributed for the basic zones or group of basic zones, abrading at least a portion of the surface with the abrasion machine with the at least one abrasion parameter and the abrasion trajectory.

A flaw grinding system, a flaw grinding method, and a steel-product manufacturing method enable automation of the task of grinding a flaw on the surface of a workpiece having a three-dimensional shape, while also reducing the occurrence of faulty grinding such as over-grinding or under-grinding. The flaw grinding system includes a grinding apparatus, a shape measurement apparatus, a flaw detection apparatus, and a grinding-tool control apparatus. The grinding apparatus includes a grinding tool that grinds a flaw on a surface of a workpiece. The shape measurement apparatus measures a three-dimensional shape and an attitude of the workpiece. The flaw detection apparatus detects a location of the flaw on the workpiece. The grinding-tool control apparatus generates a trajectory of the grinding tool to grind the flaw. The grinding-tool control apparatus controls the grinding apparatus in a manner that causes the grinding tool to move along the trajectory.

The invention relates to a system and method for changing liners of a mill, the configuration of which allows the automated robotic manipulation of liners of mills for ore grinding in comminution processes. The configuration and operation of the system allows the task of manipulation to be improved, having a greater degree of freedom and/or flexibility in its movements, thereby providing a greater degree of certainty and efficiency to the method and thus optimising the time that the mill is halted for maintenance, and also preventing the risks to which maintenance staff may be exposed. The system comprises at least one support structure, at least one system for supplying and moving liners, at least one robotic manipulator system for manipulating the liners, at least one liner manipulation tool, at least one artificial vision system, and at least one control system.

Disclosed herein is an impedance control system for a robot arm. The system is able to provide at least two different levels of stiffness/compliance, and values for stiffness/compliance in the can be independently defined and set in at least first and second directions. Specifically, this allows the stiffness in said first direction to be set at a lower value than the stiffness in said second direction within the control system.

The invention relates to a method for the automated grinding of surfaces and to a corresponding device. According to one exemplary embodiment, the method comprises the robot-assisted positioning of a grinding machine with a grinding tool, so that the grinding tool contacts the surface when the grinding machine is operated at a first rotational speed, and the detection of the contact between the grinding tool and the surface. The method further comprises, as a result of detecting the contact, the increase in the rotational speed of the grinding tool from the first rotational speed to a second rotational speed.

A robot system includes a robot configured to move a scraper configured to scrape the surface, and a control device configured to control the robot. The control device is configured to execute the scraping process by moving the scraper in a direction along the surface while pressing the scraper against the surface by the robot, and during the execution of the scraping process, repeatedly increase and decrease a depth of scraping the surface by controlling a position of the robot so as to repeatedly increase and decrease a pressing force by which the robot presses the scraper against the surface.