Operation force reflecting method in machining geometry via bilateral machining support system with variable connecting force

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker´s skill. To solve this problem, the bilateral control system is applied to a machining support system. The aim of this research is to develop a machining support system via the bilateral control system which can accept various machining theories and to reflect the operation force into the machining geometry. This system has a construction which makes it possible to change the connecting force between a master and a slave robot based on a symmetrical bilateral controller. This construction is useful to change the feature of a system dynamically according to machining condition. The effect of this system is shown by the experiment results.