History of Robotics Research and Development of Japan1996BusinessDevelopment of a force controlled finishing robot "Valibo"

Makoto Jinno	Toshiba Co.
Fumio Ozaki	Toshiba Co.
Takashi Yoshimi	Toshiba Co.
Kyoichi Tatsuno	Toshiba Co.
Masakazu Kanda	Toshiba Machine Co., Ltd.
Yasuhiko Tamada	Toshiba Machine Co., Ltd.
Shintaro Nagataki	Toshiba Machine Co., Ltd.
Isao Koguma	Toshiba Machine Co., Ltd.
Mikio Takahashi	Toshiba Machine Techno Co., Ltd.

We have developed a force controlled finishing robot ""Valibo"" for finishing tasks such as grinding, chamfering and polishing tasks in machining plants. Features of this system are as follows. This robot system incorporates a new method for the measurement of the grinding force, in which the grinding force is measured from a moment about the grinder head's center of gravity. The influence of inertial forces caused by translational motion is removed so that high stability is achieved. Furthermore, we have analyzed finishing tasks and have found that the force control parameters closely depend on the tasks. Thus, we have developed a task-directed robot language. The force control parameters are assigned by designating only three key parameters-a task name, a tool code and a tool center point - and one force control motion command in the task-directed robot language. 2nd RSJ Technical Innovations Award in 1997.

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