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The)25( )]TJ 0.011 Tc 0.125 Tw -21.777 -1.21 Td [(appearance of the chamfered edge of the test piece after)11( )]TJ 0.041 Tc T* [(processing is sho)40.3(wn in )]TJ /T1_3 1 Tf 10 0 0 10 425.463 648.2239 Tm [(Fig)15.3(.)]TJ /Span<>> BDC 1.757 0 Td ( )Tj EMC (12)Tj /T1_0 1 Tf 9.8 0 0 10 458.003 648.2239 Tm [( w)20.3(hereas the resulting)41( )]TJ 0.008 Tc -14.05 -1.21 Td (width and roughness are presented in )Tj /T1_3 1 Tf 10 0 0 10 478.6863 636.1228 Tm [(T)91.8(a)9.8(b)19.8(le)]TJ /Span<>> BDC ( )Tj EMC (2)Tj /T1_0 1 Tf 9.8 0 0 10 511.2386 636.1228 Tm [(. Since the)8( )]TJ 0.02 Tc -19.482 -1.21 Td [(v)24.9(ariability of the chamfer width is rather small and the)20( )]TJ 0.029 Tc 0 -1.21 TD [(roughness satisf)-59.7(ied the tar)18.3(get v)25.3(alue, w)35.4(e conf)-59.7(ir)-19.6(med the)29.1( )]TJ 0 Tc 0 Tw 0 -1.21 TD (applicability of the proposed method.)Tj ET 0 0 0 0 k /GS1 gs 59.528 249.488 235.276 110.217 re f /PlacedPDF /MC0 BDC q 69.317 262.499 85.96 57.56 re W n q 85.9599793 0 0 57.5599861 69.3167877 262.4995842 cm /Im0 Do Q Q q 182.704 262.499 85.957 58.041 re W n q 85.9574792 0 0 58.0416567 182.7033844 262.497894 cm /Im1 Do Q Q 0 0 0 1 K 0.3 w 4 M q 1 0 0 1 150.3584 325.7071 cm 0 0 m -10.541 -18.721 l S Q q 69.316 262.499 215.698 97.207 re W n 0 0 0 1 k q 1 0 0 1 138.6386 307.6499 cm 0 0 m -0.367 -0.651 -0.136 -1.477 0.515 -1.843 c 1.167 -2.21 1.992 -1.979 2.358 -1.328 c 2.725 -0.677 2.495 0.148 1.843 0.515 c 1.192 0.882 0.367 0.651 0 0 c f Q Q q 1 0 0 1 264.2764 325.374 cm 0 0 m -15 -20.333 l S Q q 69.316 262.499 215.698 97.207 re W n 0 0 0 1 k q 1 0 0 1 248.1875 305.8443 cm 0 0 m -0.443 -0.602 -0.315 -1.449 0.286 -1.893 c 0.887 -2.336 1.735 -2.208 2.178 -1.607 c 2.622 -1.006 2.494 -0.158 1.893 0.286 c 1.292 0.729 0.444 0.601 0 0 c f Q Q q 69.316 262.499 215.698 97.207 re W n BT 0 0 0 1 k /T1_4 1 Tf 7 0 0 7 69.3163 353.7906 Tm (\(a\) )Tj /T1_5 1 Tf 1.666 -0.028 Td (With measurement under )Tj -1.666 -1.272 Td ( force tracking control)Tj /T1_4 1 Tf 16.198 1.3 Td (\(b\) )Tj /T1_5 1 Tf 1.722 -0.028 Td (Without measurement under )Tj ET Q BT 0 0 0 1 k /T1_5 1 Tf 7 0 0 7 182.7023 344.6906 Tm ( )Tj 1.793 0 Td (f)Tj (orce tracking control)Tj /T1_6 1 Tf 5.997 -2.472 Td (Chamfered edge)Tj -16.512 0 Td (Chamfered edge)Tj ET EMC BT /GS0 gs /T1_3 1 Tf 8 0 0 8 68.3107 250.8503 Tm [(Fig)15(.)30( 10)]TJ /T1_7 1 Tf 2.844 0.018 Td [( Ov)19(ervie)19.1(w of chamfer)19(ed edge : Hole on a flat surf)19.2(ace)]TJ ET 0 0 0 0 k /GS1 gs 320.315 293.765 235.276 289.594 re f /PlacedPDF /MC1 BDC q 323.421 306.77 229.063 276.589 re W n 0 0 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cm 0 0 m 33.318 0 l 33.318 -33.373 l S Q 0.5 w []0 d q 1 0 0 1 452.0301 365.881 cm 0 0 m 20.678 0 l S Q q 1 0 0 1 464.8104 373.9703 cm 0 0 m 47.389 -47.75 l 57.58 -37.676 l S Q 0.3 w q 1 0 0 1 483.7083 338.8477 cm 0 0 m 3.25 5.849 12 10.594 19 10.594 c S Q 0 0 0 1 k q 1 0 0 1 503.948 349.9797 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q 0.5 w q 1 0 0 1 504.6478 485.7795 cm 0 0 m -0.579 -32.667 l S Q 0.3 w [8 1 1 1 1 1]0 d q 1 0 0 1 481.8616 498.147 cm 0 0 m 23.889 15.633 l 22.671 -12.368 l S Q 0.5 w []0 d q 1 0 0 1 452.7552 480.113 cm 0 0 m 29.106 18.034 l S Q 0.3 w q 1 0 0 1 488.8221 463.4464 cm 0 0 m -18.148 10.269 l S Q q 1 0 0 1 469.3294 473.8575 cm 0 0 m 0.626 -0.655 0.999 -1.144 1.467 -1.729 c 2.771 0.575 l 2.496 0.595 1.417 0.743 0.533 0.942 c -0.414 1.155 -1.242 1.403 -1.75 1.612 c -1.309 1.284 -0.67 0.702 0 0 c f Q q 1 0 0 1 490.1663 463.3038 cm 0 0 m -0.626 0.656 -0.999 1.144 -1.467 1.73 c -2.771 -0.575 l -2.496 -0.595 -1.417 -0.742 -0.533 -0.941 c 0.414 -1.155 1.242 -1.402 1.75 -1.612 c 1.309 -1.283 0.67 -0.701 0 0 c f Q q 1 0 0 1 481.6849 497.443 cm 0 0 m -15.209 -23.997 l S Q q 1 0 0 1 504.0066 485.1305 cm 0 0 m -13.257 -24.81 l S Q 0.5 w q 1 0 0 1 461.2513 509.6407 cm 0 0 m 58.928 -32.395 l 65.859 -19.887 l S Q q 1 0 0 1 396.7903 409.2101 cm 0 0 m -19.724 19.682 -51.652 19.682 -71.34 0 c S Q q 1 0 0 1 325.4505 409.2101 cm 0 0 m 0 -46.993 l 71.34 -46.993 l 71.34 0 l S Q 0 0 0 0 k q 1 0 0 1 347.9539 518.7609 cm 0 0 m 32.333 0 l 38.159 0 42.915 -4.755 42.915 -10.615 c 42.915 -16.438 38.159 -21.193 32.333 -21.193 c 0 -21.193 l -5.862 -21.193 -10.618 -16.438 -10.618 -10.615 c -10.618 -4.755 -5.862 0 0 0 c f* Q q 1 0 0 1 347.9539 518.7609 cm 0 0 m 32.333 0 l 38.159 0 42.915 -4.755 42.915 -10.615 c 42.915 -16.438 38.159 -21.193 32.333 -21.193 c 0 -21.193 l -5.862 -21.193 -10.618 -16.438 -10.618 -10.615 c -10.618 -4.755 -5.862 0 0 0 c h S Q q 1 0 0 1 399.7903 536.9922 cm 0 0 m 0 -56.608 l S Q q 1 0 0 1 328.4505 536.9922 cm 0 0 m 0 -56.608 l S Q 0.3 w q 1 0 0 1 361.1023 373.5319 cm 0 0 m 18.087 43.248 l S Q 0 0 0 1 k q 1 0 0 1 379.1717 418.131 cm 0 0 m -0.577 -0.7 -1.017 -1.127 -1.543 -1.662 c 0.899 -2.683 l 0.886 -2.408 0.905 -1.319 0.999 -0.417 c 1.098 0.548 1.246 1.399 1.394 1.93 c 1.12 1.452 0.617 0.749 0 0 c f Q q 1 0 0 1 387.4881 460.5046 cm 0 0 m -46.772 0 l S Q q 1 0 0 1 339.4764 459.9665 cm 0 0 m 0.868 -0.262 1.432 -0.504 2.128 -0.783 c 2.128 1.865 l 1.879 1.747 0.868 1.344 0 1.082 c -0.929 0.801 -1.771 0.609 -2.318 0.541 c -1.771 0.473 -0.929 0.28 0 0 c f Q q 1 0 0 1 388.7278 461.0425 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q q 1 0 0 1 337.3357 504.5207 cm 0 0 m 0 -46.976 l S Q q 1 0 0 1 390.8685 504.5207 cm 0 0 m 0 -46.976 l S Q q 1 0 0 1 384.3401 497.6788 cm 0 0 m 39.968 0 l S Q q 1 0 0 1 385.3572 518.6501 cm 0 0 m 38.34 0 l S Q q 1 0 0 1 391.5354 394.7248 cm 0 0 m 5.91 0.136 8.184 2.536 11.201 7.58 c S Q q 1 0 0 1 402.9109 403.6447 cm 0 0 m -0.67 -0.61 -1.167 -0.971 -1.765 -1.424 c 0.508 -2.784 l 0.534 -2.509 0.708 -1.435 0.929 -0.556 c 1.165 0.386 1.432 1.208 1.654 1.711 c 1.315 1.277 0.718 0.653 0 0 c f Q q 1 0 0 1 390.3084 394.1584 cm 0 0 m 0.874 -0.242 1.443 -0.471 2.146 -0.734 c 2.084 1.914 l 1.838 1.79 0.836 1.364 -0.025 1.082 c -0.947 0.78 -1.785 0.568 -2.33 0.487 c -1.782 0.432 -0.936 0.259 0 0 c f Q q 1 0 0 1 387.8685 416.3239 cm 0 0 m 19.965 -13.179 l S Q 0.5 w q 1 0 0 1 328.5833 480.1324 cm 0 0 m 3.563 0 3.563 -2.835 7.125 -2.835 c 10.685 -2.835 10.685 0 14.244 0 c 17.806 0 17.806 -2.835 21.367 -2.835 c 24.929 -2.835 24.929 0 28.49 0 c 32.052 0 32.052 -2.835 35.613 -2.835 c 39.175 -2.835 39.175 0 42.738 0 c 46.298 0 46.298 -2.835 49.859 -2.835 c 53.422 -2.835 53.422 0 56.986 0 c 60.552 0 60.552 -2.835 64.118 -2.835 c 67.684 -2.835 67.684 0 71.25 0 c S Q q 1 0 0 1 328.5833 537.3423 cm 0 0 m 3.563 0 3.563 -2.835 7.125 -2.835 c 10.685 -2.835 10.685 0 14.244 0 c 17.806 0 17.806 -2.835 21.367 -2.835 c 24.929 -2.835 24.929 0 28.49 0 c 32.052 0 32.052 -2.835 35.613 -2.835 c 39.175 -2.835 39.175 0 42.738 0 c 46.298 0 46.298 -2.835 49.859 -2.835 c 53.422 -2.835 53.422 0 56.986 0 c 60.552 0 60.552 -2.835 64.118 -2.835 c 67.684 -2.835 67.684 0 71.25 0 c S Q Q BT 0 0 0 1 k /T1_8 1 Tf 7 0 0 7 360.9554 462.3243 Tm (24)Tj 22.339 -0.095 Td (0.48)Tj 2.6304 6.487 -6.487 2.6304 368.3046 395.8008 Tm (R19.5)Tj ET q 323.421 306.77 229.063 276.589 re W n 10 M 1 j 1 J q 1 0 0 1 420.992 514.8214 cm 0 0 m 0 -13.514 l S Q q 1 0 0 1 421.5301 500.068 cm 0 0 m 0.262 0.868 0.504 1.432 0.783 2.128 c -1.865 2.128 l -1.747 1.879 -1.344 0.868 -1.082 0 c -0.801 -0.929 -0.609 -1.771 -0.541 -2.318 c -0.473 -1.771 -0.28 -0.929 0 0 c f Q q 1 0 0 1 420.4539 516.0612 cm 0 0 m -0.262 -0.868 -0.504 -1.432 -0.783 -2.128 c 1.865 -2.128 l 1.747 -1.879 1.344 -0.868 1.082 0 c 0.801 0.929 0.609 1.771 0.541 2.318 c 0.473 1.771 0.28 0.929 0 0 c f Q Q BT /T1_8 1 Tf 0 7 -7 0 419.1727 504.251 Tm (12)Tj ET q 323.421 306.77 229.063 276.589 re W n 10 M 2 j [4 2]0 d q 1 0 0 1 376.4168 497.613 cm 0 0 m 0 -4.326 -5.484 -7.833 -12.25 -7.833 c -19.016 -7.833 -24.5 -4.326 -24.5 0 c -24.5 4.326 -19.016 7.833 -12.25 7.833 c -5.484 7.833 0 4.326 0 0 c h S Q q 1 0 0 1 343.7503 508.1964 cm 0 0 m 0 -3.268 -2.836 -5.917 -6.333 -5.917 c -9.831 -5.917 -12.667 -3.268 -12.667 0 c -12.667 3.268 -9.831 5.917 -6.333 5.917 c -2.836 5.917 0 3.268 0 0 c h S Q [8 1.5 1.5 1.5]0 d q 1 0 0 1 364.1033 542.113 cm 0 0 m 0 -72.333 l S Q q 1 0 0 1 361.1033 436.4464 cm 0 0 m 0 -87.5 l S Q q 1 0 0 1 324.4168 508.1636 cm 0 0 m 79.5 0 l S Q []0 d q 1 0 0 1 388.2503 557.9464 cm 0 0 m -15 -51 l S Q q 1 0 0 1 373.4168 505.6047 cm 0 0 m 0.496 0.759 0.887 1.232 1.352 1.821 c -1.189 2.568 l -1.146 2.296 -1.044 1.212 -1.038 0.305 c -1.031 -0.665 -1.084 -1.527 -1.173 -2.071 c -0.953 -1.566 -0.531 -0.812 0 0 c f Q q 1 0 0 1 340.2503 550.1462 cm 0 0 m -3.667 -31.161 l S Q q 1 0 0 1 336.9729 517.6906 cm 0 0 m 0.362 0.832 0.667 1.364 1.026 2.022 c -1.604 2.332 l -1.515 2.071 -1.233 1.019 -1.075 0.126 c -0.905 -0.829 -0.813 -1.688 -0.808 -2.238 c -0.676 -1.704 -0.387 -0.89 0 0 c f Q BT /T1_8 1 Tf 7 0 0 7 323.4212 560.6158 Tm (Circular arc )Tj ET Q BT /T1_8 1 Tf 7 0 0 7 324.8772 552.6149 Tm (shaped part)Tj 7.995 1.143 Td (Straight part)Tj 17.822 -15.429 Td (Target width)Tj ET q 323.421 306.77 229.063 276.589 re W n 10 M 2 j [4 2]0 d q 1 0 0 1 334.2498 416.2795 cm 0 0 m 0 -25 l 53.667 -25 l 53.667 0 l S Q Q BT /T1_8 1 Tf 7 0 0 7 398.0994 391.4493 Tm (\( 62)Tj (\260 )Tj (\))Tj ET q 323.421 306.77 229.063 276.589 re W n q 1 0 0 1 532.4173 540.863 cm 0 0 m -19.5 -52.25 l S Q q 1 0 0 1 511.6487 489.0861 cm 0 0 m -0.261 -0.7 0.095 -1.48 0.795 -1.741 c 1.495 -2.002 2.274 -1.646 2.536 -0.946 c 2.797 -0.246 2.441 0.534 1.741 0.795 c 1.041 1.056 0.261 0.7 0 0 c f Q BT /T1_8 1 Tf 7 0 0 7 521.5804 403.3663 Tm (Ultra-hard )Tj ET Q BT /T1_8 1 Tf 7 0 0 7 521.5804 395.3654 Tm (cutter)Tj -0.095 22.19 Td (Ultra-hard )Tj 0 -1.143 TD (cutter)Tj 3.4525 6.0894 -6.0894 3.4525 468.4295 536.0967 Tm (Cutting depth)Tj ET q 323.421 306.77 229.063 276.589 re W n 10 M 1 j 1 J q 1 0 0 1 470.5833 486.9464 cm 0 0 m 9.404 -16.495 29.667 -20.167 44.667 -17 c S Q q 1 0 0 1 469.5018 487.757 cm 0 0 m 0.202 -0.884 0.272 -1.494 0.374 -2.237 c 2.674 -0.925 l 2.448 -0.767 1.598 -0.088 0.94 0.536 c 0.236 1.204 -0.348 1.841 -0.678 2.281 c -0.467 1.773 -0.216 0.946 0 0 c f Q q 1 0 0 1 502.0975 469.5568 cm 0 0 m -0.859 0.288 -1.415 0.547 -2.103 0.848 c -2.185 -1.799 l -1.931 -1.688 -0.909 -1.317 -0.032 -1.082 c 0.905 -0.83 1.752 -0.664 2.3 -0.612 c 1.756 -0.527 0.92 -0.31 0 0 c f Q Q BT /T1_8 1 Tf 7 0 0 7 506.347 471.4493 Tm (62)Tj (\260)Tj ET q 323.421 306.77 229.063 276.589 re W n 10 M 1 j 1 J q 1 0 0 1 491.4998 461.9045 cm 0 0 m 4.083 -2.083 l S Q 0 J q 1 0 0 1 495.5364 459.8214 cm 0 0 m 46.797 0 l S Q 4 M 0 j q 1 0 0 1 449.9163 519.9464 cm 0 0 m 9.238 16.167 l S Q q 1 0 0 1 459.3025 537.4567 cm 0 0 m -0.658 -0.624 -1.148 -0.994 -1.736 -1.459 c 0.563 -2.773 l 0.584 -2.499 0.736 -1.421 0.939 -0.537 c 1.157 0.409 1.408 1.235 1.62 1.744 c 1.289 1.303 0.705 0.667 0 0 c f Q q 1 0 0 1 449.7684 518.6027 cm 0 0 m 0.658 0.624 1.148 0.994 1.736 1.459 c -0.563 2.773 l -0.584 2.499 -0.736 1.421 -0.939 0.537 c -1.157 -0.409 -1.408 -1.235 -1.62 -1.744 c -1.289 -1.303 -0.705 -0.667 0 0 c f Q q 1 0 0 1 460.702 538.7795 cm 0 0 m 19.144 33.5 l S Q Q BT /T1_8 1 Tf 3.4582 6.0861 -6.0861 3.4582 465.6124 553.9377 Tm (0.4)Tj 7 0 0 7 430.8719 501.5743 Tm (Cross section )Tj 0 -1.143 TD (of test piece)Tj 12.851 -25.036 Td (0.8)Tj ET q 323.421 306.77 229.063 276.589 re W n BT /T1_8 1 Tf 7 0 0 7 507.5989 308.2764 Tm (Target width)Tj ET Q BT /T1_8 1 Tf 5.0498 4.8476 -4.8476 5.0498 482.2486 340.737 Tm (45)Tj (\260)Tj 7 0 0 7 425.8719 332.0744 Tm (Cross section )Tj T* (of test piece)Tj ET q 323.421 306.77 229.063 276.589 re W n q 1 0 0 1 456.5833 491.2795 cm 0 0 m 8.466 -9.857 l S Q q 1 0 0 1 464.0228 480.5406 cm 0 0 m 0.487 -0.567 1.342 -0.632 1.909 -0.145 c 2.476 0.342 2.541 1.197 2.054 1.764 c 1.566 2.331 0.712 2.396 0.145 1.909 c -0.422 1.421 -0.487 0.567 0 0 c f Q 10 M 1 j 1 J [10 1 1 1 1 1]0 d q 1 0 0 1 529.2209 343.0641 cm 0 0 m 16.702 16.842 l S Q [8 1 1 1 1 1]0 d q 1 0 0 1 481.4842 390.4512 cm 0 0 m 47.737 -47.387 l S Q []0 d q 1 0 0 1 452.1771 386.4357 cm 0 0 m 11.852 -11.765 l S Q q 1 0 0 1 469.1629 402.8395 cm 0 0 m 11.852 -11.766 l S Q q 1 0 0 1 489.4227 322.0094 cm 0 0 m -27.589 28.562 l S Q q 1 0 0 1 460.5848 351.0895 cm 0 0 m 0.415 -0.807 0.633 -1.38 0.916 -2.075 c 2.82 -0.235 l 2.562 -0.138 1.57 0.31 0.778 0.751 c -0.069 1.225 -0.792 1.697 -1.221 2.042 c -0.891 1.602 -0.444 0.863 0 0 c f Q q 1 0 0 1 490.6712 321.4914 cm 0 0 m -0.415 0.807 -0.633 1.38 -0.916 2.075 c -2.82 0.235 l -2.562 0.138 -1.57 -0.31 -0.778 -0.751 c 0.069 -1.225 0.792 -1.697 1.221 -2.042 c 0.891 -1.602 0.444 -0.863 0 0 c f Q q 1 0 0 1 472.3489 365.0729 cm 0 0 m -15.121 -13.941 l S Q q 1 0 0 1 505.5989 331.8229 cm 0 0 m -15.614 -14.396 l S Q 4 M 0 j 0 J q 1 0 0 1 532.0623 391.5714 cm 0 0 m -19.759 -52.661 l S Q q 1 0 0 1 511.0364 339.3864 cm 0 0 m -0.263 -0.7 0.092 -1.48 0.792 -1.743 c 1.491 -2.005 2.271 -1.651 2.534 -0.951 c 2.797 -0.251 2.442 0.529 1.743 0.792 c 1.043 1.054 0.262 0.7 0 0 c f Q Q BT /T1_8 1 Tf 4.9939 4.9052 -4.9052 4.9939 479.0142 394.8616 Tm (Cutting depth)Tj ET q 323.421 306.77 229.063 276.589 re W n 10 M 1 j 1 J q 1 0 0 1 492.136 319.2057 cm 0 0 m 3.613 -3.235 l S Q 4 M 0 j 0 J q 1 0 0 1 457.9651 385.5944 cm 0 0 m 12.106 11.812 l S Q q 1 0 0 1 470.5833 398.6569 cm 0 0 m -0.804 -0.418 -1.377 -0.64 -2.07 -0.926 c -0.221 -2.821 l -0.125 -2.563 0.317 -1.568 0.756 -0.774 c 1.225 0.075 1.693 0.801 2.037 1.231 c 1.598 0.899 0.861 0.448 0 0 c f Q q 1 0 0 1 457.4534 384.3434 cm 0 0 m 0.804 0.418 1.377 0.64 2.07 0.926 c 0.221 2.821 l 0.125 2.563 -0.317 1.568 -0.756 0.774 c -1.225 -0.075 -1.693 -0.801 -2.037 -1.231 c -1.598 -0.899 -0.861 -0.448 0 0 c f Q q 1 0 0 1 472.2928 399.5441 cm 0 0 m 27.342 26.674 l S Q Q BT /T1_8 1 Tf 4.9986 4.9004 -4.9004 4.9986 480.4238 411.8835 Tm (0.4)Tj ET q 323.421 306.77 229.063 276.589 re W n q 1 0 0 1 440.5833 337.9464 cm 0 0 m 19 24 l S Q q 1 0 0 1 460.6443 361.1061 cm 0 0 m 0.464 0.586 0.365 1.438 -0.221 1.901 c -0.807 2.366 -1.658 2.267 -2.122 1.68 c -2.586 1.094 -2.487 0.243 -1.901 -0.221 c -1.315 -0.685 -0.464 -0.586 0 0 c f Q 10 M 1 j 1 J q 1 0 0 1 495.7083 315.9464 cm 0 0 m 49.125 0 l S Q q 1 0 0 1 494.2337 347.005 cm 0 0 m 0.897 0.137 1.51 0.162 2.258 0.208 c 1.12 2.599 l 0.947 2.385 0.207 1.587 -0.465 0.978 c -1.184 0.325 -1.861 -0.21 -2.325 -0.507 c -1.802 -0.333 -0.959 -0.146 0 0 c f Q BT /T1_9 1 Tf 7 0 0 7 328.4139 577.3805 Tm (\(a\) )Tj /T1_10 1 Tf 1.666 -0.028 Td (Shape of test piece)Tj /T1_9 1 Tf 13.399 0.037 Td (\(b\) )Tj /T1_10 1 Tf 1.722 -0.028 Td (Target edge shape of straight part)Tj ET Q BT /T1_9 1 Tf 7 0 0 7 433.8689 437.1075 Tm (\(c\) )Tj /T1_10 1 Tf 1.61 -0.028 Td (Target edge shape of circular arc )Tj -1.61 -1.129 Td ( shaped part)Tj ET EMC BT /GS0 gs /T1_3 1 Tf 8 0 0 8 328.6343 295.1218 Tm [(Fig)15(.)30( 11)]TJ /T1_7 1 Tf 2.844 0.018 Td [( T)68(ar)19(get shape of edge : Slot on a c)19.2(ylinder \(unit : mm\))]TJ ET 0 0 0 0 k /GS1 gs 72.283 76.535 209.764 155.225 re f BT 0 0 0 1 k /GS0 gs /T1_3 1 Tf 8 0 0 8 79.5427 225.112 Tm [(T)92(a)10(b)20(le 1)]TJ /T1_7 1 Tf 3.073 0.018 Td [( R)37(esults of chamfering : Hole on a flat surf)19.3(ace)]TJ ET 10 M /GS2 gs q 1 0 0 1 202.6772 199.256 cm 0 0 m 0 17.835 l S Q q 1 0 0 1 242.3622 199.256 cm 0 0 m 0 17.835 l S Q q 1 0 0 1 202.6772 184.7328 cm 0 0 m 0 13.523 l S Q q 1 0 0 1 242.3622 184.7328 cm 0 0 m 0 13.523 l S Q q 1 0 0 1 72.2835 184.5828 cm 0 0 m 104.382 0 l S Q q 1 0 0 1 177.6653 184.5828 cm 0 0 m 25.012 0 l S Q q 1 0 0 1 202.6772 184.5828 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 202.6772 170.5596 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 242.3622 184.5828 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 170.5596 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 72.2835 170.4096 cm 0 0 m 104.382 0 l S Q q 1 0 0 1 177.6653 170.4096 cm 0 0 m 25.012 0 l S Q q 1 0 0 1 202.6772 170.4096 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 202.6772 156.3864 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 242.3622 170.4096 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 156.3864 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 72.2835 156.2364 cm 0 0 m 104.382 0 l S Q q 1 0 0 1 177.6653 156.2364 cm 0 0 m 25.012 0 l S Q q 1 0 0 1 202.6772 156.2364 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 202.6772 142.2131 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 242.3622 156.2364 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 142.2131 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 72.2835 142.0631 cm 0 0 m 104.382 0 l S Q q 1 0 0 1 177.6653 142.0631 cm 0 0 m 25.012 0 l S Q q 1 0 0 1 202.6772 142.0631 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 202.6772 128.0399 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 242.3622 142.0631 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 128.0399 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 72.2835 127.8899 cm 0 0 m 104.382 0 l S Q q 1 0 0 1 177.6653 127.8899 cm 0 0 m 25.012 0 l S Q q 1 0 0 1 202.6772 127.8899 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 202.6772 113.8667 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 242.3622 127.8899 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 113.8667 cm 0 0 m 0 13.873 l S Q q 1 0 0 1 202.6772 95.382 cm 0 0 m 0 18.185 l S Q q 1 0 0 1 242.3622 95.382 cm 0 0 m 0 18.185 l S Q 1 w q 1 0 0 1 72.2835 217.5907 cm 0 0 m 104.882 0 l S Q q 1 0 0 1 177.1653 217.5907 cm 0 0 m 25.512 0 l S Q q 1 0 0 1 202.6772 217.5907 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 217.5907 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 72.2835 198.756 cm 0 0 m 104.882 0 l S Q q 1 0 0 1 177.1653 198.756 cm 0 0 m 25.512 0 l S Q q 1 0 0 1 202.6772 198.756 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 198.756 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 177.1653 199.256 cm 0 0 m 0 17.835 l S Q q 1 0 0 1 177.1653 184.5828 cm 0 0 m 0 13.673 l S Q q 1 0 0 1 177.1653 170.4096 cm 0 0 m 0 14.173 l S Q q 1 0 0 1 177.1653 156.2364 cm 0 0 m 0 14.173 l S Q q 1 0 0 1 177.1653 142.0631 cm 0 0 m 0 14.173 l S Q q 1 0 0 1 177.1653 127.8899 cm 0 0 m 0 14.173 l S Q q 1 0 0 1 177.1653 113.8667 cm 0 0 m 0 14.023 l S Q q 1 0 0 1 177.1653 95.382 cm 0 0 m 0 18.185 l S Q 0.3 w q 1 0 0 1 72.2835 113.7167 cm 0 0 m 104.882 0 l S Q q 1 0 0 1 177.1653 113.7167 cm 0 0 m 25.512 0 l S Q q 1 0 0 1 202.6772 113.7167 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 113.7167 cm 0 0 m 39.685 0 l S Q 1 w q 1 0 0 1 72.2835 94.882 cm 0 0 m 104.882 0 l S Q q 1 0 0 1 177.1653 94.882 cm 0 0 m 25.512 0 l S Q q 1 0 0 1 202.6772 94.882 cm 0 0 m 39.685 0 l S Q q 1 0 0 1 242.3622 94.882 cm 0 0 m 39.685 0 l S Q BT /GS0 gs /T1_0 1 Tf 7 0 0 7 118.309 205.8564 Tm (Item)Tj 9.341 0 Td (Unit)Tj 4.566 0.643 Td [(W)40(ith )]TJ -0.668 -1.286 Td [(lear)-19.9(ning)]TJ 5.699 1.286 Td [(W)40(ithout )]TJ -0.029 -1.286 Td [(lear)-19.9(ning)]TJ -24.673 -1.715 Td (Maximum processing width)Tj 15.217 0 Td (mm)Tj 3.72 0 Td 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69.8971 672.6156 Tm ( )Tj EMC 0.591 0 Td [(F)50.3(eeding speed can be set higher because the)70( )]TJ -0.025 Tc 0.104 Tw -0.636 -1.229 Td [(responsi)25(v)15(eness of position )0.5(control )0.5(is )0.5(higher )0.5(than )0.5(force )]TJ 0.025 Tw T* (control.)Tj /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 59.5275 636.3124 Tm <1B07>Tj /T1_0 1 Tf -0.025 Tc 0.125 Tw /Span<>> BDC 9.8 0 0 10 69.8971 636.3124 Tm ( )Tj EMC 0.591 0 Td [(Cutting depth, etc. can be easil)24.6(y adjusted b)24.6(y editing )]TJ 0 Tw -0.636 -1.229 Td [(the tar)18(get trajector)-19.9(y)85(.)]TJ /C2_0 1 Tf 0 Tc 8.82 0 0 9 59.5275 612.1102 Tm <1B08>Tj /T1_0 1 Tf 0.023 Tc 0.125 Tw /Span<>> BDC 9.8 0 0 10 69.8971 612.1102 Tm ( )Tj EMC 0.591 0 Td [(Skilled labor is not required because the robot)48( )]TJ 0.019 Tc -0.636 -1.229 Td [(m)0.5(e)0.5(as)0.5(u)0.5(re)0.5(s)0.5( )0.5(th)0.5(e)0.5( )0.5(pr)0.5(e)0.5(c)0.5(i)0.5(se)0.5( )0.5(sh)0.5(a)0.5(p)0.5(e )0.5(o)0.5(f)0.5( t)0.5(h)0.5(e )0.5(p)0.5(a)0.5(r)-19.5(ts)0.5( )0.5(b)25.4(y)0.5( )0.5(fo)0.5(r)0.5(c)0.5(e)44( )]TJ -0.025 Tc 0.025 Tw 0 -1.21 TD (tracking.)Tj 0.009 Tc 0.125 Tw -2.459 -1.21 Td [(This method does not increase the production tact time)9( )]TJ 0.015 Tc -0.578 -1.21 Td [(w)20.4(hen it is applied to par)-19.7(ts that ha)35.3(v)15.4(e small v)25.4(ariability in)14.9( )]TJ 0 Tc 0 Tw 0 -1.21 TD [(dimensions and small installation er)-29.9(ror)55(.)]TJ /T1_1 1 Tf 12 0 0 12 39.685 533.2131 Tm [(5)2.3(.)]TJ /Span<>> BDC ( )Tj EMC 1.654 0 Td [(I)-6.9(m)12.7(p)14.6(r)6.6(o)28.1(v)28.1(e)6.6(m)8.7(e)6.6(n)17.6(t o)18.2(f t)7.1(h)9.6(e p)14.6(r)6.6(o)9.8(p)0.5(o)0.5(s)1.6(e)-2.4(d m)8.6(e)4.8(t)7.1(h)12.3(o)0.5(d )]TJ -0.007 Tc 0.007 Tw 0 -1.008 TD [(w)-29.9(ith)-7( it)-7.4(er)-4.9(a)6.6(t)-27.4(i)-3.9(v)21.1(e)-7( l)-2.9(e)-5.4(a)-9.4(r)-18.4(n)-20.4(i)-17.4(n)-2.9(g)-7( c)-1.9(o)7.8(n)10.6(t)-21.4(ro)1.9(l)]TJ /T1_0 1 Tf 0.025 Tc 0.125 Tw 9.8 0 0 10 39.685 503.011 Tm [(W)99.6(e applied iterati)24.6(v)14.6(e lear)-20.4(ning control and impro)44.6(v)14.6(ed the)25.1( )]TJ 0.001 Tc 0 -1.21 TD [(proposed method for chamfering at higher feeding speeds)1( )]TJ 0 Tc 0 Tw T* (without deteriorating its roughness.)Tj 0.112 Tw 0.578 -1.21 Td [(In the proposed method)60(, the feeding speed is set lo)40(w for )]TJ 0.003 Tc 0.125 Tw -0.578 -1.21 Td [(the measurement step for precision w)20.2(hile the speed is set)3( )]TJ 0 Tc 0 Tw T* (high for the cutting step to reduce tact time. )Tj 0.026 Tc 0.125 Tw 0.578 -1.21 Td [(The higher feeding speed w)40.2(orsens the tracking er)-29.9(rors)26( )]TJ 0 Tc 0.058 Tw -0.578 -1.21 Td [(\(e.g., o)45(v)15(ershooting and vibration\) from the tar)18(get trajector)-20(y )]TJ 0.02 Tc 0.125 Tw T* [(and mak)9.5(es the surf)-10.4(ace rougher at the cutting step. )49.5(This)20( )]TJ 0 Tc 0.098 Tw T* [(deterioration of tracking precision is mainl)25.1(y caused b)25(y the )]TJ 0.004 Tc 0.125 Tw T* [(dela)34.9(y of a f)-60.1(ilter within the signal processing of the robot)4( )]TJ 0 Tc 0 Tw T* [(controller to enab)20(le stab)20(le and smooth motion.)]TJ 0.003 Tc 0.125 Tw 0.578 -1.21 Td [(In order to impro)44.6(v)14.6(e the tracking precision, w)34.6(e added an)3( )]TJ 0 Tc 0 Tw -0.578 -1.21 Td [(iterati)25(v)15(e lear)-20(ning \(P-type\))]TJ /Span<>> BDC ( )Tj EMC 6.37 0 0 6.5 143.1813 349.1966 Tm (\(12\))Tj 9.8 0 0 10 153.7936 345.6966 Tm ( step before the cutting step.)Tj 0.019 Tw -11.065 -1.21 Td [(As sho)40(wn in )]TJ /T1_1 1 Tf 10 0 0 10 96.9628 333.5955 Tm [(Fig)15(.)]TJ /Span<>> BDC 1.594 0 Td ( )Tj EMC (7-\(a\))Tj /T1_0 1 Tf 9.8 0 0 10 135.58 333.5955 Tm [(, the resultant trajector)-20(y is obtained )]TJ 0.01 Tc 0.125 Tw -9.785 -1.21 Td [(as the result of the robot motion generated b)24.7(y sending a)10( )]TJ 0.018 Tc T* [(command with the present tar)18.3(get trajector)-19.7(y to the robot)18( )]TJ 0 Tc 0.028 Tw T* [(controller)55(. )55.2(As sho)40(wn in )]TJ /T1_1 1 Tf 10 0 0 10 133.7591 297.2922 Tm [(Fig)15(.)]TJ /Span<>> BDC 1.594 0 Td ( )Tj EMC (7-\(b\))Tj /T1_0 1 Tf 9.8 0 0 10 173.0275 297.2922 Tm [(, the ne)15(xt tar)18(get trajector)-20(y )]TJ 0.095 Tw 13.005 45.984 Td [(is updated from the present tar)18(get trajector)-20(y b)25(y comparing )]TJ 0.015 Tc 0.125 Tw T* [(the present tar)18.3(get trajector)-19.8(y)85.3(, the resultant trajector)-19.7(y)85.2(, and)15.1( )]TJ 0 Tc 0 Tw T* [(tr)-20(ue trajector)-20(y obtained in the measurement step.)]TJ 0.056 Tw 0.578 -1.21 Td (Repeating the processes in )Tj /T1_1 1 Tf 10 0 0 10 415.0179 720.8306 Tm [(Figs.)30( 7-\(a\))]TJ /T1_0 1 Tf 9.8 0 0 10 458.045 720.8306 Tm ( and )Tj /T1_1 1 Tf 0 Tw 10 0 0 10 478.1887 720.8306 Tm (-\(b\))Tj /T1_0 1 Tf 0.056 Tw 9.8 0 0 10 493.7384 720.8306 Tm [( con)40(v)15(er)18(ges )]TJ 0.013 Tw -19.721 -1.21 Td [(the tar)18(get trajector)-19.9(y and the resultant trajector)-19.9(y comes close )]TJ 0.086 Tw 0 -1.21 TD [(to the tr)-20(ue tar)17.9(get trajector)-20(y within a cer)-20(tain range of er)-29.9(ror)55(. )]TJ 0.087 Tw 0 -1.21 TD [(In order to adjust the lear)-19.9(ning speed)60(, a for)18(getting f)-10(actor of )]TJ 0.082 Tw T* [(v)25(alue 0-1 is applied. In general, a smaller for)18(getting f)-9.9(actor )]TJ 0 Tw T* [(accelerates lear)-20(ning b)-5(ut mak)10(es it easier to di)25(v)15(er)18(ge.)]TJ 0.06 Tw 0.578 -1.21 Td [(The ef)25(fect of the iterati)25(v)15(e lear)-20(ning control w)25(as conf)-60(ir)-19.9(med )]TJ 0.118 Tw -0.578 -1.21 Td [(as sho)40(wn in )]TJ /T1_1 1 Tf 10 0 0 10 352.2873 636.123 Tm [(Fig)15(.)]TJ /Span<>> BDC 1.594 0 Td ( )Tj EMC (8)Tj /T1_0 1 Tf 9.8 0 0 10 376.9115 636.123 Tm [(. )54.6(After less than 10 rounds of lear)-19.9(ning, )]TJ 0.023 Tc 0.125 Tw -7.8 -1.21 Td [(the tracking er)-30.1(rors such as o)44.8(v)14.9(ershooting and vibrations)23( )]TJ 0 Tc 0 Tw 0 -1.21 TD [(w)35(ere reduced. )]TJ /T1_1 1 Tf -0.009 Tc 0.653 Tw 12 0 0 12 300.4724 593.7187 Tm [(6)-18.3(.)]TJ /Span<>> BDC 0.759 0 Td ( )Tj EMC [(Ex)-15.4(p)-8.5(e)-2.4(r)-26.4(i)-19.4(me)-2.4(n)8.6(t)-14.4(s)]TJ 0 Tc 0 Tw 10 0 0 10 300.4724 575.6176 Tm [(6)-16.9(.)19.7(1)]TJ /Span<>> BDC ( )Tj EMC 2.551 0 Td [(P)20.7(e)-1.5(r)-19.9(f)11.8(o)6.4(r)-18.8(m)-3.5(a)-7.8(n)4(c)-4.9(e o)9.7(f c)7.1(h)-2.5(a)-7.8(m)-15.5(f)7.6(e)-1.5(r)-24.6(i)-18(n)-4(g)]TJ /T1_0 1 Tf 0.039 Tc 0.125 Tw 9.8 0 0 10 300.4724 563.5165 Tm [(W)99.7(e v)14.8(erif)-60.2(ied the perfor)-20.3(mance of the proposed method)39( )]TJ 0.028 Tc 0 -1.21 TD [(through chamfering a circular edge of a test piece. )54.7(As)28( )]TJ 0.006 Tc T* [(sho)40(wn in )]TJ /T1_1 1 Tf 10 0 0 10 341.1682 539.3143 Tm [(Fig)15(.)]TJ /Span<>> BDC 1.618 0 Td ( )Tj EMC (9)Tj /T1_0 1 Tf 9.8 0 0 10 366.2158 539.3143 Tm [(, a chamfered surf)-9.9(ace with an inclination)6( )]TJ 0.007 Tc -6.709 -1.21 Td [(of 30 de)15.4(g)-19.7(rees w)25.3(as made along a hole with a diameter of)7( )]TJ ET 0 0 0 0 k /GS1 gs 39.685 76.684 235.276 196.406 re f /PlacedPDF /MC0 BDC 0 0 0 1 K 0.5 w 1 j 1 J q 1 0 0 1 135.5251 236.4128 cm 0 0 m 39.24 0 l 39.24 23.606 l 0 23.606 l h S Q BT 0 0 0 1 k /T1_2 1 Tf 0 Tc 0 Tw 7 0 0 7 145.5562 246.5159 Tm (Robot)Tj ET 0.3 w 4 M 0 j 0 J q 1 0 0 1 112.105 248.2151 cm 0 0 m 20.081 0 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 133.4258 248.7532 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q Q q 1 0 0 1 174.7652 248.2151 cm 0 0 m 20.421 0 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 196.4258 248.7532 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q Q 0.5 w 10 M 1 j 1 J q 1 0 0 1 198.5201 236.4128 cm 0 0 m 56.693 0 l 56.693 23.606 l 0 23.606 l h S Q 4 M 0 j 0 J q 1 0 0 1 140.6519 206.1106 cm 0 0 m 41.238 -17.358 l 0 -35.913 l 0 0 l h S Q 0.3 w q 1 0 0 1 109.7237 188.7527 cm 0 0 m 8.129 0 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 119.0923 189.2908 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q Q q 1 0 0 1 125.8526 188.7527 cm 0 0 m 11.024 0 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 138.1168 189.2908 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q Q q 1 0 0 1 109.7237 148.0515 cm 0 0 m 13.948 0 l 13.948 34.64 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 123.1334 183.9314 cm 0 0 m -0.262 -0.868 -0.504 -1.432 -0.783 -2.128 c 1.865 -2.128 l 1.747 -1.879 1.344 -0.868 1.082 0 c 0.801 0.929 0.609 1.771 0.541 2.318 c 0.473 1.771 0.28 0.929 0 0 c f Q Q 0.5 w 10 M 1 j 1 J q 1 0 0 1 140.6519 166.0081 cm 0 0 m 41.238 -17.957 l 0 -35.912 l 0 0 l h S Q BT /T1_2 1 Tf 7 0 0 7 142.4551 148.4622 Tm (Forgetting )Tj 0 -1 TD (factor )Tj /T1_3 1 Tf (a)Tj ET q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 140.6519 125.906 cm 0 0 m 41.238 -17.957 l 0 -35.914 l 0 0 l h S Q Q 0.3 w 4 M 0 j 0 J q 1 0 0 1 109.7237 107.949 cm 0 0 m 26.809 0 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 137.772 108.4871 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q Q q 1 0 0 1 124.1612 148.0515 cm 0 0 m 12.371 0 l S Q q 54.275 89.743 206.096 183.347 re W n q 1 0 0 1 137.7715 148.5896 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q q 1 0 0 1 125.5289 147.9021 cm 0 0 m 0 1.047 -0.91 1.945 -1.971 1.945 c -3.07 1.945 -3.941 1.047 -3.941 0 c -3.941 -1.085 -3.07 -1.945 -1.971 -1.945 c -0.91 -1.945 0 -1.085 0 0 c f* Q q 1 0 0 1 181.8902 107.949 cm 0 0 m 18.799 0 l 18.799 33.974 l S Q q 1 0 0 1 200.1514 143.1624 cm 0 0 m -0.262 -0.868 -0.504 -1.432 -0.783 -2.128 c 1.865 -2.128 l 1.747 -1.879 1.344 -0.868 1.082 0 c 0.801 0.929 0.609 1.771 0.541 2.318 c 0.473 1.771 0.28 0.929 0 0 c f Q q 1 0 0 1 181.8902 188.7527 cm 0 0 m 18.799 0 l 18.799 -34.64 l S Q q 1 0 0 1 201.2276 152.8728 cm 0 0 m 0.262 0.868 0.504 1.432 0.783 2.128 c -1.865 2.128 l -1.747 1.879 -1.344 0.868 -1.082 0 c -0.801 -0.929 -0.609 -1.771 -0.541 -2.318 c -0.473 -1.771 -0.28 -0.929 0 0 c f Q q 1 0 0 1 181.8902 148.0515 cm 0 0 m 12.629 0 l S Q q 1 0 0 1 195.7588 148.5896 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q q 1 0 0 1 203.1153 148.6507 cm 0 0 m 7.737 0 l S Q q 1 0 0 1 212.0923 149.1887 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q 0.5 w 10 M 1 j 1 J q 1 0 0 1 214.6381 136.6798 cm 0 0 m 45.483 0 l 45.483 23.343 l 0 23.343 l h S Q Q BT /T1_4 1 Tf 7 0 0 7 194.628 154.6311 Tm (\037)Tj /T1_2 1 Tf 0.69 13.984 Td (Resultant trajectory )Tj 1.111 -1 Td (obtained from )Tj 0.791 -1 Td (the motion)Tj -10.045 -6.892 Td (Learning )Tj 0.666 -1 Td (P gain)Tj 10.618 -4.667 Td (Next target )Tj 0.445 -1.143 Td (trajectory)Tj /T1_4 1 Tf -4.275 -0.377 Td (\037)Tj -1.333 1.381 Td (\037)Tj -10 4.286 Td (\037)Tj 0.93 2 Td (\036)Tj /T1_2 1 Tf 3.626 -12.643 Td (1 )Tj /T1_4 1 Tf (\036\035)Tj /T1_3 1 Tf (a)Tj ET q 54.275 89.743 206.096 183.347 re W n 0.5 w 10 M 1 j 1 J q 1 0 0 1 54.5241 236.7908 cm 0 0 m 56.963 0 l 56.963 23.606 l 0 23.606 l h S Q Q BT /T1_2 1 Tf 7 0 0 7 62.981 250.5159 Tm (Present target )Tj 0.945 -1 Td (trajectory)Tj ET 0 0 0 0 k 54.659 177.381 56.694 22.745 re f q 54.275 89.743 206.096 183.347 re W n 0.5 w 10 M 1 j 1 J q 1 0 0 1 54.6591 177.3808 cm 0 0 m 56.693 0 l 56.693 22.745 l 0 22.745 l h S Q Q 54.659 136.679 56.694 22.746 re f q 54.275 89.743 206.096 183.347 re W n 0.5 w 10 M 1 j 1 J q 1 0 0 1 54.6591 136.6798 cm 0 0 m 56.693 0 l 56.693 22.745 l 0 22.745 l h S Q Q 54.659 96.577 56.694 22.145 re f q 54.275 89.743 206.096 183.347 re W n 0.5 w 10 M 1 j 1 J q 1 0 0 1 54.6591 96.5768 cm 0 0 m 56.693 0 l 56.693 22.146 l 0 22.146 l h S Q Q BT 0 0 0 1 k /T1_2 1 Tf 7 0 0 7 55.6197 193.6038 Tm (Resultant trajectory )Tj 1.111 -1 Td (obtained from )Tj 0.791 -1 Td (the motion)Tj -0.322 -4.238 Td (True target )Tj 0.416 -1 Td (trajectory)Tj -0.945 -4.857 Td (Present target )Tj 0.945 -1 Td (trajectory)Tj ET q 54.275 89.743 206.096 183.347 re W n 0.5 w 10 M 1 j 1 J q 1 0 0 1 125.8965 188.8674 cm 0 0 m 0 -1.197 -0.97 -2.167 -2.167 -2.167 c -3.363 -2.167 -4.333 -1.197 -4.333 0 c -4.333 1.196 -3.363 2.167 -2.167 2.167 c -0.97 2.167 0 1.196 0 0 c h S Q q 1 0 0 1 203.0191 148.0344 cm 0 0 m 0 -1.197 -0.97 -2.167 -2.167 -2.167 c -3.363 -2.167 -4.333 -1.197 -4.333 0 c -4.333 1.196 -3.363 2.167 -2.167 2.167 c -0.97 2.167 0 1.196 0 0 c h S Q Q q 54.275 89.743 206.096 183.347 re W n BT /T1_5 1 Tf 7 0 0 7 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-58.476 -195.271 -58.425 c -200.357 -56.765 l -200.407 -56.765 l S Q 1 0 1 0 K 10 M q 1 0 0 1 331.0928 292.8741 cm 0 0 m 0.05 0 0.05 -0.054 0.104 -0.054 c 5.136 -0.884 l 4.982 -0.884 l 9.184 -0.054 l 14.166 1.607 l 14.112 1.607 l 19.198 4.048 l 19.094 3.994 l 23.3 7.315 l 23.35 7.315 23.403 7.369 23.453 7.369 c 28.489 9.029 l 28.539 9.029 l 33.575 9.805 l 33.625 9.805 33.625 9.86 y 37.88 9.86 l 42.912 9.86 l 42.809 9.805 l 47.845 11.466 l 47.741 11.416 l 51.942 13.907 l 51.997 13.956 52.046 13.956 52.1 13.956 c 57.186 14.787 l 57.028 14.737 l 62.061 18.004 l 62.114 18.058 62.218 18.108 62.269 18.108 c 66.473 18.108 l 66.369 18.058 l 71.401 19.718 l 75.553 21.377 l 80.639 23.815 l 85.621 27.082 l 89.822 29.523 l 94.908 32.063 l 95.012 32.063 95.116 32.118 95.219 32.063 c 100.256 31.233 l 104.457 30.404 l 104.354 30.457 l 109.388 30.457 l 109.232 30.404 l 114.318 32.894 l 114.368 32.894 114.422 32.948 114.471 32.948 c 118.677 32.948 l 118.519 32.894 l 123.556 35.335 l 123.605 35.335 123.659 35.385 123.709 35.385 c 128.745 35.385 l 128.691 35.335 l 132.896 36.165 l 137.928 37.826 l 137.978 37.826 138.032 37.875 y 143.064 37.875 l 142.806 37.722 l 147.009 41.818 l 147.009 41.873 147.062 41.873 147.112 41.922 c 152.148 44.413 l 157.234 46.854 l 161.436 48.516 l 161.485 48.516 161.539 48.564 161.59 48.564 c 166.625 48.564 l 166.675 48.564 166.729 48.516 166.778 48.516 c 171.864 46.854 l 171.71 46.905 l 175.913 46.905 l 175.862 46.854 l 180.894 47.685 l 180.791 47.685 l 185.822 50.175 l 185.72 50.121 l 189.924 53.39 l 190.028 53.442 190.132 53.493 190.181 53.493 c 195.268 53.493 l 195.164 53.442 l 198.231 54.454 l 200.199 55.103 l S Q Q BT 0 0 0 1 k /T1_8 1 Tf 7 0 0 7 356.5586 487.5717 Tm (: Target trajectory)Tj 0 -1.286 TD (: 1st round)Tj T* (: 2nd round)Tj 0 -1.286 TD (: 7th round)Tj ET q 1 0 0 1 342.2212 489.0004 cm 0 0 m 11.338 0 l S Q 0.371 0.762 0 0 K q 1 0 0 1 342.2212 480.1113 cm 0 0 m 11.338 0 l S Q 0.547 0 0.176 0 K q 1 0 0 1 342.2212 471.2227 cm 0 0 m 11.338 0 l S Q 0.031 0.527 0.734 0 K q 1 0 0 1 342.2212 462.3336 cm 0 0 m 11.338 0 l S Q BT /T1_8 1 Tf 7 0 0 7 356.5586 353.9428 Tm (: Target trajectory)Tj 0 -1.286 TD (: 1st round)Tj T* (: 9th round)Tj ET 0.797 0.523 0 0 K q 1 0 0 1 342.2212 355.3716 cm 0 0 m 11.338 0 l S Q 0.371 0.762 0 0 K q 1 0 0 1 342.2212 346.4825 cm 0 0 m 11.338 0 l S Q 1 0 1 0 K 10 M q 1 0 0 1 342.2212 337.5937 cm 0 0 m 11.338 0 l S Q 0 0 0 1 K 0.3 w 8 M 0 j 2 J q 1 0 0 1 330.8828 279.312 cm 0 0 m 0 75.685 l S Q q 1 0 0 1 330.8828 279.312 cm 0 0 m 198.425 0 l S Q BT /C0_0 1 Tf 7 0 0 7 311.9546 413.3209 Tm <000D>Tj /T1_8 1 Tf (6.75)Tj /C0_0 1 Tf 0 2.616 TD <000D>Tj /T1_8 1 Tf (6.70)Tj /C0_0 1 Tf T* <000D>Tj /T1_8 1 Tf (6.65)Tj /C0_0 1 Tf 0 2.616 TD <000D>Tj /T1_8 1 Tf (6.60)Tj /C0_0 1 Tf 0 2.616 TD <000D>Tj /T1_8 1 Tf (6.55)Tj 2.079 -11.537 Td (4.2)Tj 5.669 0 Td (4.4)Tj 5.669 0 Td (4.6)Tj 5.669 0 Td (4.8)Tj 5.669 0 Td (5.0)Tj 5.669 0 Td (5.2)Tj ET q 300.789 257.882 234.643 252.978 re W n BT /T1_8 1 Tf 0 7 -7 0 306.6055 423.4536 Tm (Displacement \(mm\))Tj ET Q BT /T1_8 1 Tf 7 0 0 7 417.2632 394.7192 Tm (Time \(s\))Tj ET q 1 0 0 1 330.8828 415.3754 cm 0 0 m 0 73.25 l S Q q 1 0 0 1 330.8828 415.3754 cm 0 0 m 198.425 0 l S Q 0 J q 1 0 0 1 330.8828 488.6254 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 370.5679 415.3754 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 410.2529 415.3754 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 449.938 415.3754 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 489.623 415.3754 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 529.3081 415.3754 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 330.8828 452.0004 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 330.8828 433.6879 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 330.8828 470.3129 cm 0 0 m 2.834 0 l S Q BT /C0_0 1 Tf 7 0 0 7 311.9546 277.2574 Tm <000D>Tj /T1_8 1 Tf (2.20)Tj /C0_0 1 Tf 0 2.163 TD <000D>Tj /T1_8 1 Tf (2.15)Tj /C0_0 1 Tf 0 2.162 TD <000D>Tj /T1_8 1 Tf (2.10)Tj /C0_0 1 Tf 0 2.163 TD <000D>Tj /T1_8 1 Tf (2.05)Tj /C0_0 1 Tf 0 2.162 TD <000D>Tj /T1_8 1 Tf (2.00)Tj /C0_0 1 Tf T* <000D>Tj /T1_8 1 Tf (1.95)Tj 1.829 -11.78 Td (79.5)Tj 5.669 0 Td (79.6)Tj 5.669 0 Td (79.7)Tj 5.669 0 Td (79.8)Tj 5.669 0 Td (79.9)Tj ET q 300.789 257.882 234.643 252.978 re W n BT /T1_8 1 Tf 7 0 0 7 523.1726 270.4814 Tm (80.0)Tj 0 7 -7 0 306.6055 287.3891 Tm (Displacement \(mm\))Tj 7 0 0 7 417.2632 259.392 Tm (Time \(s\))Tj ET Q q 1 0 0 1 330.8828 354.9966 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 370.5679 279.312 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 410.2529 279.312 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 449.938 279.312 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 489.623 279.312 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 529.3081 279.312 cm 0 0 m 0 2.834 l S Q q 1 0 0 1 330.8828 293.9614 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 330.8828 337.9117 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 330.8828 323.2617 cm 0 0 m 2.834 0 l S Q q 1 0 0 1 330.8828 308.6113 cm 0 0 m 2.834 0 l S Q q 300.789 257.882 234.643 252.978 re W n BT /T1_9 1 Tf 7 0 0 7 384.3857 504.9453 Tm (\(a\) )Tj /T1_10 1 Tf 1.666 -0.028 Td (Correction effect on delay)Tj ET Q BT /T1_9 1 Tf 7 0 0 7 377.5817 371.6934 Tm (\(b\) )Tj /T1_10 1 Tf 1.722 -0.028 Td (Correction effect on vibrations)Tj ET EMC BT /GS0 gs /T1_1 1 Tf 8 0 0 8 342.1513 246.2339 Tm [(Fig)15(.)30( 8)]TJ /T1_7 1 Tf 2.344 0.018 Td [( Effects of iter)19.1(ativ)19.1(e learning contr)19.1(ol)]TJ ET 0 0 0 0 k /GS1 gs 300.472 76.684 235.276 152.468 re f /PlacedPDF /MC2 BDC q 300.711 99.689 234.799 129.463 re W n 0 0 0 0.2 k q 1 0 0 1 320.2908 120.8151 cm 0 0 m 2.826 -1.579 3.648 1.191 6.439 0.579 c 9.229 -0.033 9.872 -2.607 12.685 -3.287 c 15.499 -3.967 16.128 -1.638 18.948 -2.662 c 21.769 -3.686 21.887 -6.017 25.229 -6.537 c 28.572 -7.057 28.25 -5.391 31.612 -5.943 c 34.975 -6.495 38.079 -8.743 y 38.079 19.137 l 17.432 48.009 l -18.917 48.009 l -19.992 45.441 -19.254 42.65 v -18.517 39.86 -16.522 39.628 -15.653 37.356 c -14.782 35.084 -16.394 33.251 -15.988 30.867 c -15.583 28.482 -13.118 29.703 -12.349 26.564 c -11.581 23.425 -13.129 22.948 -13.022 20.167 c -12.915 17.385 -10.198 17.49 -9.489 15.12 c -8.78 12.749 -11.714 11.345 -10.19 8.829 c -8.17 5.494 -6.779 7.13 -4.244 5.023 c -1.709 2.916 -2.827 1.579 0 0 c f Q 0.05 0 0.6 0 k q 1 0 0 1 374.5676 145.6187 cm 0 0 m 0.124 -0.178 l 14.116 9.567 l -13.443 48.126 l -27.011 38.804 l h f* Q q 1 0 0 1 360.7883 136.1373 cm 0 0 m 0.124 -0.178 l 10.116 6.567 l -17.443 45.126 l -27.011 38.804 l h f* Q 0.5 w 10 M 1 j 1 J q 1 0 0 1 451.8123 153.2589 cm 0 0 m 0 4.404 12.028 7.986 26.872 7.986 c 41.716 7.986 53.745 4.404 53.745 0 c 53.745 -4.405 41.716 -7.985 26.872 -7.985 c 12.028 -7.985 0 -4.405 0 0 c S Q q 1 0 0 1 451.6135 159.3126 cm 0 0 m -1.975 -1.49 l 2.275 -7.73 l 4.285 -6.051 l h f Q 4 M 0 j 0 J q 1 0 0 1 451.6135 159.3126 cm 0 0 m -1.975 -1.49 l 2.275 -7.73 l 4.285 -6.051 l 0 0 l h S Q 10 M 1 j 1 J q 1 0 0 1 455.7083 153.4011 cm 0 0 m -0.456 -0.91 l S Q 4 M 0 j 0 J q 1 0 0 1 456.1062 153.0313 cm 0 0 m 0.285 -0.397 0.029 -1.052 -0.568 -1.449 c -1.138 -1.847 -1.82 -1.875 -2.104 -1.477 c -2.36 -1.08 -2.132 -0.455 -1.535 -0.028 c -0.966 0.37 -0.284 0.37 0 0 c B Q 0 0.79 0.96 0 k q 1 0 0 1 433.8699 193.4146 cm 0 0 m -10.465 -7.276 l 0.455 -23.19 l 11.374 -15.46 l h f Q 10 M 1 j 1 J q 1 0 0 1 433.8699 193.4146 cm 0 0 m -10.465 -7.276 l 0.455 -23.19 l 11.374 -15.46 l 0 0 l h S Q 0 0 0 0.5 k q 1 0 0 1 423.5471 185.9323 cm 0 0 m 2.019 -2.87 6 -3.582 8.901 -1.563 c 11.8 0.455 12.512 4.461 10.464 7.332 c 8.446 10.231 4.465 10.941 1.564 8.923 c -1.336 6.877 -2.019 2.898 0 0 c B Q 0 0 0 0.6 k q 1 0 0 1 447.9739 156.5831 cm 0 0 m 5.459 3.638 l -1.82 14.096 l -7.28 10.459 l h f Q q 1 0 0 1 447.9739 156.5831 cm 0 0 m 5.459 3.638 l -1.82 14.096 l -7.28 10.459 l 0 0 l h S Q 0.3 0 0.1 0 k q 1 0 0 1 438.4192 165.2238 cm 0 0 m 10.464 7.274 l 6.825 12.73 l -4.095 5.001 l h f Q q 1 0 0 1 438.4192 165.2238 cm 0 0 m 10.464 7.274 l 6.825 12.73 l -4.095 5.001 l 0 0 l h S Q 0.3 w q 1 0 0 1 455.491 116.4644 cm 0 0 m 46.388 0 l S Q 0 0 0 1 k q 1 0 0 1 503.1189 117.0026 cm 0 0 m -0.868 0.262 -1.432 0.504 -2.128 0.783 c -2.128 -1.865 l -1.879 -1.747 -0.868 -1.344 0 -1.082 c 0.929 -0.801 1.771 -0.609 2.318 -0.541 c 1.771 -0.473 0.929 -0.28 0 0 c f Q q 1 0 0 1 454.2512 115.9265 cm 0 0 m 0.868 -0.262 1.432 -0.504 2.128 -0.783 c 2.128 1.865 l 1.879 1.747 0.868 1.344 0 1.082 c -0.929 0.801 -1.771 0.609 -2.318 0.541 c -1.771 0.473 -0.929 0.28 0 0 c f Q q 1 0 0 1 441.053 178.6578 cm 0 0 m 12.041 7.168 33.738 8.101 y S Q q 1 0 0 1 476.0066 187.3492 cm 0 0 m -0.878 0.225 -1.453 0.442 -2.16 0.691 c -2.046 -1.955 l -1.803 -1.826 -0.81 -1.38 0.046 -1.081 c 0.962 -0.761 1.796 -0.533 2.339 -0.441 c 1.79 -0.396 0.94 -0.24 0 0 c f Q q 1 0 0 1 440.2629 177.5612 cm 0 0 m 0.88 0.219 1.488 0.3 2.229 0.416 c 0.875 2.691 l 0.721 2.462 0.058 1.599 -0.554 0.93 c -1.208 0.213 -1.834 -0.382 -2.268 -0.721 c -1.764 -0.5 -0.942 -0.234 0 0 c f Q 0.5 w q 1 0 0 1 358.3694 139.5723 cm 0 0 m 0 -27.5 l S Q 0.3 w [10 1 1 1 1 1]0 d q 1 0 0 1 374.718 145.4406 cm 0 0 m 13.78 9.56 l S Q q 1 0 0 1 347.5569 184.502 cm 0 0 m 27.161 -39.062 l S Q 0.5 w []0 d q 1 0 0 1 333.7776 175.0217 cm 0 0 m 27.162 -39.063 l 35.482 -33.289 l S Q 0.3 w q 1 0 0 1 358.3948 139.4553 cm 0 0 m -27.563 -17.216 l S Q q 1 0 0 1 337.8948 168.7888 cm 0 0 m -27.563 -17.216 l S Q 4 M 0 j 0 J [8 1 1 1 1 1]0 d q 1 0 0 1 358.3694 139.6563 cm 0 0 m 0 29.175 l -20.291 29.175 l S Q Q BT 0 0 0 1 k /T1_11 1 Tf 5.4108 4.4411 -4.4411 5.4108 338.1401 151.79 Tm (30\260)Tj /T1_12 1 Tf 7.5117 0 0 7.5117 472.3167 118.4014 Tm (f)Tj /T1_11 1 Tf 0.646 0.005 Td (15)Tj 7.4287 1.1137 -1.1137 7.4287 452.5507 186.7382 Tm (30\260)Tj 7.2524 -1.9566 1.9566 7.2524 496.5259 187.7827 Tm (30\260)Tj 5.7236 4.0299 -4.0299 5.7236 346.2412 188.6165 Tm (Cutting depth)Tj 5.5697 4.2401 -4.2401 5.5697 350.4354 204.1469 Tm (0.2)Tj -3.8013 5.8779 -5.8779 -3.8013 340.9445 129.6453 Tm [(T)25(a)25(r)25(g)25(e)25(t)25( )25(w)25(i)25(d)25(t)25(h)]TJ -3.8965 5.8153 -5.8153 -3.8965 326.539 133.2971 Tm (0.46)Tj ET q 300.711 99.689 234.799 129.463 re W n BT /T1_11 1 Tf 7 0 0 7 314.1248 101.2003 Tm (Cross section of test piece)Tj ET 10 M 1 j 1 J q 1 0 0 1 317.5857 151.8223 cm 0 0 m 15.75 -24.043 l S Q q 1 0 0 1 334.4651 127.0367 cm 0 0 m -0.256 0.87 -0.363 1.474 -0.511 2.209 c -2.727 0.758 l -2.491 0.615 -1.6 -0.011 -0.905 -0.593 c -0.161 -1.216 0.461 -1.816 0.818 -2.235 c 0.576 -1.741 0.274 -0.931 0 0 c f Q q 1 0 0 1 316.4563 152.5645 cm 0 0 m 0.256 -0.87 0.363 -1.474 0.511 -2.209 c 2.727 -0.758 l 2.491 -0.615 1.6 0.011 0.905 0.593 c 0.161 1.216 -0.461 1.816 -0.818 2.235 c -0.576 1.741 -0.274 0.931 0 0 c f Q 4 M 0 j 0 J q 1 0 0 1 333.3777 175.3444 cm 0 0 m -7.667 10.804 l S Q q 1 0 0 1 347.0447 185.1364 cm 0 0 m -7.938 11.186 l S Q q 1 0 0 1 337.9607 191.7491 cm 0 0 m -8.021 -5.677 l S Q q 1 0 0 1 329.238 184.9171 cm 0 0 m 0.86 0.287 1.46 0.416 2.189 0.59 c 0.66 2.752 l 0.525 2.511 -0.068 1.598 -0.625 0.883 c -1.221 0.117 -1.798 -0.526 -2.205 -0.897 c -1.719 -0.638 -0.92 -0.308 0 0 c f Q q 1 0 0 1 338.6619 192.9044 cm 0 0 m -0.86 -0.287 -1.46 -0.416 -2.189 -0.59 c -0.66 -2.752 l -0.525 -2.511 0.068 -1.598 0.625 -0.883 c 1.221 -0.117 1.798 0.526 2.205 0.897 c 1.719 0.638 0.92 0.308 0 0 c f Q q 1 0 0 1 373.7185 217.0723 cm 0 0 m -33.008 -23.36 l S Q 0.5 w 10 M 1 j 1 J q 1 0 0 1 300.9607 168.8243 cm 0 0 m 37.125 0 l S Q 0.3 w 4 M 0 j 0 J q 1 0 0 1 337.1692 107.739 cm 0 0 m 8.5 15 l S Q q 1 0 0 1 346.8469 122.0714 cm 0 0 m 0.368 0.65 0.14 1.477 -0.51 1.845 c -1.161 2.213 -1.987 1.985 -2.355 1.334 c -2.724 0.685 -2.495 -0.142 -1.845 -0.51 c -1.195 -0.878 -0.369 -0.65 0 0 c f Q q 1 0 0 1 385.8357 181.0723 cm 0 0 m -22.667 -35.667 l S Q q 1 0 0 1 362.0266 146.1315 cm 0 0 m -0.401 -0.631 -0.214 -1.468 0.417 -1.869 c 1.047 -2.27 1.884 -2.083 2.285 -1.452 c 2.686 -0.821 2.5 0.015 1.869 0.417 c 1.238 0.817 0.401 0.631 0 0 c f Q Q BT /T1_11 1 Tf 7 0 0 7 370.8328 184.0753 Tm (Ultra-hard cutter)Tj 4.337 -9.762 Td (Ultra-hard cutter)Tj ET q 300.711 99.689 234.799 129.463 re W n 0.05 0 0.6 0 k q 1 0 0 1 507.1956 158.2819 cm 0 0 m -2.031 1.413 l -6.636 -4.571 l -4.413 -5.957 l h f Q 0.5 w 4 M q 1 0 0 1 507.1956 158.2819 cm 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0 -1.21 TD [(betw)35(een )0.5(the CAD )0.5(data )0.5(and )0.5(actual installation )0.5(position )]TJ 0 Tw 0 -1.21 TD (and orientation\))Tj /C2_0 1 Tf 0 Tc 8.82 0 0 9 340.1575 503.2 Tm <1B07>Tj /T1_0 1 Tf -0.025 Tc 0.074 Tw /Span<>> BDC 9.8 0 0 10 350.527 503.2 Tm ( )Tj EMC 0.591 0 Td [(The par)-20(t is track)10.1(ed b)25(y the tool of the robot along the )]TJ 0.05 Tw -0.636 -1.229 Td [(measurement tar)18(get trajector)-20(y so that the desired shape )]TJ 0.002 Tc 0.125 Tw 0 -1.21 TD [(\(measurement result trajector)-20.4(y\) is obtained. )54.6(At the)27( )]TJ -0.025 Tc 0.02 Tw T* [(same time, )0.5(the )0.5(absolute positioning )0.5(er)-30(ror of the )0.5(robot )0.5(is )]TJ 0.025 Tw 0 -1.21 TD (absorbed.)Tj /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 340.1575 442.6945 Tm <1B08>Tj /T1_0 1 Tf 0.007 Tc 0.125 Tw /Span<>> BDC 9.8 0 0 10 350.527 442.6945 Tm ( )Tj EMC 0.591 0 Td [(The measurement result trajector)-20.3(y is adjusted to)32( )]TJ -0.025 Tc 0 Tw -0.636 -1.229 Td [(generate the tar)18(get trajector)-19.9(y for processing the par)-20(t.)]TJ /C2_0 1 Tf 0 Tc 8.82 0 0 9 340.1575 418.4923 Tm <1B09>Tj /T1_0 1 Tf 0.002 Tc 0.125 Tw /Span<>> BDC 9.8 0 0 10 350.527 418.4923 Tm ( )Tj EMC 0.591 0 Td [(Through iterati)24.9(v)14.9(e lear)-20.2(ning the tar)17.9(get trajector)-20.1(y is)27( )]TJ -0.025 Tc 0.037 Tw -0.636 -1.229 Td [(cor)-29.9(rected in order to impro)45(v)15(e the accurac)15(y of the tar)18(get )]TJ 0 Tw 0 -1.21 TD [(trajector)-20(y tracking. \(Discussed later\))]TJ 0 Tc -2.025 -1.21 Td (\(2\))Tj /Span<>> BDC ( )Tj EMC 2.025 0 Td [(Cutting step \(perfor)-20(med for each process\))]TJ 0.014 Tc 0.125 Tw T* [(The relati)24.6(v)14.7(e position and orientation betw)34.7(een the)14.1( )]TJ 0.026 Tc -1.012 -1.21 Td [(robot and the par)-19.9(t are calibrated b)25(y touch sensing)26( )]TJ ET 0 0 0 0 k /GS1 gs 59.528 550.038 235.276 216.025 re f /PlacedPDF /MC0 BDC q 192.7553871 0 0 130.3933588 80.7874603 618.158811 cm /Im0 Do Q 0 0 0 1 K 0.3 w 4 M q 1 0 0 1 149.6382 757.5751 cm 0 0 m -6.333 -41 l S Q q 80.788 563.067 192.756 202.996 re W n 0 0 0 1 k q 1 0 0 1 141.9673 716.7821 cm 0 0 m -0.114 -0.739 0.393 -1.43 1.131 -1.544 c 1.87 -1.658 2.561 -1.152 2.675 -0.413 c 2.79 0.326 2.283 1.017 1.544 1.131 c 0.806 1.245 0.114 0.739 0 0 c f Q Q q 80.788 563.067 192.756 202.996 re W n BT 0 0 0 1 k /T1_2 1 Tf 0 Tc 0 Tw 7 0 0 7 127.3008 760.246 Tm (Chamfered edge)Tj ET Q BT 0 0 0 1 k /T1_2 1 Tf 0 Tc 0 Tw 7 0 0 7 98.6148 600.583 Tm [(\(Note\) )-784.6(Processing conditions)]TJ 0 -1.286 TD [( )-3394.5(- Tool )-3757.2(: )]TJ (D)Tj ET q 80.788 563.067 192.756 202.996 re W n BT /T1_2 1 Tf 7 0 0 7 178.2306 591.581 Tm (iamond electro-deposition grinder)Tj ET Q BT /T1_2 1 Tf 7 0 0 7 98.6148 582.579 Tm [( )-3394.5(- Grain size )-1564.3(: No. 320)]TJ 0 -1.288 TD [( )-3394.5(- Tool diameter )-8.3(: )]TJ /T1_3 1 Tf 10.652 -0.005 Td (f)Tj /T1_2 1 Tf 0.521 0.005 Td ( 2 mm)Tj ET q 80.788 563.067 192.756 202.996 re W n BT /T1_2 1 Tf 7 0 0 7 98.6148 564.582 Tm [( )-3394.5(- Feeding speed )102.8(: 0.5 mm/s)]TJ ET EMC Q BT /GS0 gs /T1_1 1 Tf 8 0 0 8 102.5342 551.419 Tm [(Fig)15(.)30( 4)]TJ /T1_4 1 Tf 2.344 0.018 Td [( Ov)19(ervie)19.1(w of chamfer)19(ed edge : slot)]TJ ET 0 0 0 0 k /GS1 gs 59.528 79.077 235.276 206.114 re f /PlacedPDF /MC1 BDC BT 0 0 0 1 k /T1_5 1 Tf 7 0 0 7 162.593 120.6054 Tm [(\(Note\) )-784.6(Processing conditions)]TJ 0 -1.286 TD [( )-3394.5(- Tool )-3757.2(: Flap wheel)]TJ T* [( )-3394.5(- Grain size )-1564.3(: No. 240-400)]TJ ET q 80.788 92.092 192.756 193.099 re W n BT /T1_5 1 Tf 7 0 0 7 162.593 93.5994 Tm [( )-3394.5(- Feeding speed )102.8(: 6 mm/s)]TJ ET Q q 80.788 138.581 192.755 146.609 re W n q 192.7557591 0 0 146.6097261 80.7871513 138.5804442 cm /Im1 Do Q EMC Q BT /GS0 gs /T1_1 1 Tf 8 0 0 8 93.7985 80.443 Tm [(Fig)15(.)30( 5)]TJ /T1_4 1 Tf 2.344 0.018 Td [( Ov)19(ervie)19.1(w of polished surf)19.1(ace : c)19(ylinder)]TJ ET 0 0 0 0 k /GS1 gs 320.315 76.535 235.276 259.95 re f /PlacedPDF /MC2 BDC q 320.24 89.551 235.426 246.935 re W n 0 0 0 0.4 k 0.5 w 10 M 1 j 1 J q 1 0 0 1 419.7986 290.3218 cm 0 0 m 0 1.647 1.31 2.956 2.957 2.956 c 4.647 2.956 5.957 1.647 5.957 0 c 5.957 -1.647 4.647 -2.957 2.957 -2.957 c 1.31 -2.957 0 -1.647 0 0 c B Q q 1 0 0 1 408.9451 292.0059 cm 0 0 m 0 1.605 1.352 2.957 2.957 2.957 c 4.647 2.957 5.957 1.605 5.957 0 c 5.957 -1.647 4.647 -2.957 2.957 -2.957 c 1.352 -2.957 0 -1.647 0 0 c B Q q 1 0 0 1 436.8235 304.8077 cm 0 0 m 0 1.605 1.353 2.957 2.957 2.957 c 4.647 2.957 5.957 1.605 5.957 0 c 5.957 -1.689 4.647 -2.957 2.957 -2.957 c 1.353 -2.957 0 -1.689 0 0 c B Q q 1 0 0 1 486.2097 308.2286 cm 0 0 m 0 1.605 1.352 2.957 2.958 2.957 c 4.647 2.957 5.957 1.605 5.957 0 c 5.957 -1.647 4.647 -2.956 2.958 -2.956 c 1.352 -2.956 0 -1.647 0 0 c B Q q 1 0 0 1 526.6819 294.5873 cm 0 0 m 0 1.604 1.31 2.956 2.957 2.956 c 4.604 2.956 5.957 1.604 5.957 0 c 5.957 -1.647 4.604 -2.957 2.957 -2.957 c 1.31 -2.957 0 -1.647 0 0 c B Q q 1 0 0 1 531.7512 287.7875 cm 0 0 m 0 1.605 1.352 2.957 3 2.957 c 4.647 2.957 5.957 1.605 5.957 0 c 5.957 -1.647 4.647 -2.957 3 -2.957 c 1.352 -2.957 0 -1.647 0 0 c B Q 0 0 0 0.2 k q 1 0 0 1 532.9338 294.0806 cm 0 0 m 22.347 0 l 22.346 29.365 l -145.963 29.357 l -145.962 -5.913 l -125.091 -5.913 l -125.894 8.193 -98.349 13.768 -74.058 16.767 c -64.129 18.034 -54.793 18.794 -23.7 14.866 c -13.223 13.515 -0.338 11.656 0 0 c f* Q q 1 0 0 1 407.843 288.1675 cm 0 0 m -0.803 14.106 26.742 19.681 51.033 22.68 c 60.961 23.947 70.298 24.707 101.391 20.779 c 111.868 19.428 124.753 17.569 125.091 5.913 c S Q q 1 0 0 1 532.8492 109.7372 cm 0 0 m 22.431 0 l 22.431 31.788 l -145.902 31.788 l -145.902 -5.955 l -125.006 -5.955 l -125.809 8.193 -98.307 13.81 -74.016 16.852 c -64.129 18.076 -54.751 18.878 -23.658 14.909 c -13.223 13.6 -0.338 11.699 0 0 c f* Q q 1 0 0 1 407.843 103.7823 cm 0 0 m -0.803 14.148 26.7 19.765 50.991 22.807 c 60.877 24.031 70.255 24.833 101.349 20.864 c 111.784 19.555 124.668 17.654 125.006 5.955 c S Q q 1 0 0 1 401.886 94.0264 cm 0 0 m 0 1.436 1.141 2.577 2.535 2.577 c 3.971 2.577 5.112 1.436 5.112 0 c 5.112 -1.394 3.971 -2.534 2.535 -2.534 c 1.141 -2.534 0 -1.394 0 0 c S Q 0.3 w q 1 0 0 1 427.6994 101.8667 cm 0 0 m -9.336 9.334 l S Q 0 0 0 1 k q 1 0 0 1 417.1057 111.6967 cm 0 0 m 0.428 -0.799 0.657 -1.369 0.952 -2.059 c 2.824 -0.186 l 2.564 -0.093 1.564 0.337 0.765 0.765 c -0.09 1.224 -0.822 1.683 -1.257 2.021 c -0.918 1.586 -0.458 0.855 0 0 c f Q q 1 0 0 1 320.3895 287.6667 cm 0 0 m 62.361 0 l 62.361 25.511 l 0 25.511 l h S Q 0 1 1 0 K 0.75 w q 1 0 0 1 412.1096 291.6309 cm 0 0 m 10.224 -1.309 l S Q q 1 0 0 1 412.1096 291.6309 cm 0 0 m 0 5.11 25.137 14.106 44.189 16.345 c 65.651 18.119 61.849 17.612 94.8 14.782 c 109.671 12.333 117.529 10.22 117.867 3.083 c 122.641 -3.843 l S Q 0.609 0 1 0 K q 1 0 0 1 410.842 288.1675 cm 0 0 m -0.591 17.781 25.052 23.862 47.612 26.776 c 56.822 27.959 65.524 28.635 94.336 22.511 c 104.011 20.483 115.967 17.654 116.135 2.957 c 116.262 -1.14 l S Q 0 1 1 0 K q 1 0 0 1 534.4973 189.9371 cm 0 0 m -4.521 7.222 l -4.859 14.317 -12.716 16.429 -27.587 18.921 c -60.539 21.708 -56.737 22.257 -78.198 20.441 c -97.251 18.245 -122.388 9.207 -122.388 4.097 c -112.164 2.83 l S Q 0.813 0.602 0 0 K q 1 0 0 1 404.4631 103.7403 cm 0 0 m -0.845 15.837 28.094 22.215 53.653 25.679 c 64.087 27.072 73.931 28.001 106.629 23.693 c 117.614 22.215 131.217 20.146 131.555 7.053 c S Q 0.836 0.59 0 0 K 0.5 w q 1 0 0 1 404.4631 103.7403 cm 0 0 m 0 -9.714 l S Q q 1 0 0 1 536.0183 110.6664 cm 0 0 m 0 -13.303 l S Q 0 0 0 1 K q 1 0 0 1 554.9162 294.165 cm 0 0 m -21.94 0 l S Q q 1 0 0 1 407.7585 288.0411 cm 0 0 m -20.787 0 l S Q 0.3 w q 1 0 0 1 453.0451 184.3868 cm 0 0 m -24.063 3.948 l S Q q 1 0 0 1 427.6716 188.0049 cm 0 0 m 0.814 -0.399 1.332 -0.729 1.973 -1.118 c 2.402 1.496 l 2.137 1.419 1.074 1.186 0.175 1.068 c -0.787 0.941 -1.649 0.888 -2.2 0.909 c -1.672 0.753 -0.872 0.427 0 0 c f Q q 1 0 0 1 502.1076 185.2914 cm 0 0 m 14.575 3.167 l S Q q 1 0 0 1 517.7795 189.248 cm 0 0 m -0.904 0.072 -1.506 0.188 -2.246 0.313 c -1.684 -2.274 l -1.465 -2.106 -0.563 -1.498 0.23 -1.057 c 1.078 -0.586 1.86 -0.219 2.38 -0.036 c 1.832 -0.085 0.968 -0.077 0 0 c f Q 0.5 w q 1 0 0 1 403.449 96.6031 cm 0 0 m 0.761 1.055 2.831 1.9 2.915 1.647 c 2.958 1.478 2.07 0.76 2.028 0 c S Q q 1 0 0 1 406.9978 95.0821 cm 0 0 m 1.056 -0.803 1.901 -2.872 1.647 -2.956 c 1.479 -2.999 0.761 -2.111 0 -2.069 c S Q q 1 0 0 1 405.4768 91.4926 cm 0 0 m -0.803 -1.056 -2.831 -1.901 -2.915 -1.647 c -2.957 -1.478 -2.112 -0.76 -2.028 0 c S Q q 1 0 0 1 401.886 92.8863 cm 0 0 m -1.056 0.802 -1.901 2.872 -1.647 2.914 c -1.436 2.999 -0.76 2.112 0 2.07 c S Q q 1 0 0 1 408.7722 115.7769 cm 0 0 m 0 1.394 1.141 2.534 2.577 2.534 c 4.013 2.534 5.154 1.394 5.154 0 c 5.154 -1.436 4.013 -2.576 2.577 -2.576 c 1.141 -2.576 0 -1.436 0 0 c S Q q 1 0 0 1 410.3352 118.3111 cm 0 0 m 0.803 1.056 2.831 1.9 2.915 1.647 c 2.957 1.478 2.112 0.76 2.028 0 c S Q q 1 0 0 1 413.926 116.7906 cm 0 0 m 1.056 -0.802 1.901 -2.872 1.648 -2.957 c 1.437 -2.999 0.761 -2.112 0 -2.069 c S Q q 1 0 0 1 412.363 113.2007 cm 0 0 m -0.76 -1.056 -2.831 -1.901 -2.915 -1.647 c -2.957 -1.478 -2.07 -0.76 -2.028 0 c S Q q 1 0 0 1 408.8142 114.5943 cm 0 0 m -1.056 0.802 -1.901 2.872 -1.647 2.915 c -1.479 2.999 -0.76 2.112 0 2.07 c S Q q 1 0 0 1 454.7361 129.292 cm 0 0 m 0 1.394 1.183 2.534 2.577 2.534 c 4.013 2.534 5.154 1.394 5.154 0 c 5.154 -1.437 4.013 -2.534 2.577 -2.534 c 1.183 -2.534 0 -1.437 0 0 c S Q q 1 0 0 1 456.2991 131.8262 cm 0 0 m 0.803 1.055 2.873 1.942 2.958 1.647 c 3 1.478 2.113 0.802 2.07 0 c S Q q 1 0 0 1 459.8899 130.3051 cm 0 0 m 1.057 -0.76 1.901 -2.83 1.648 -2.914 c 1.479 -2.956 0.761 -2.111 0 -2.027 c S Q q 1 0 0 1 458.3694 126.7578 cm 0 0 m -0.803 -1.056 -2.831 -1.943 -2.915 -1.647 c -3 -1.479 -2.112 -0.802 -2.07 0 c S Q q 1 0 0 1 454.7781 128.1514 cm 0 0 m -1.056 0.76 -1.9 2.83 -1.647 2.915 c -1.479 2.957 -0.76 2.111 0 2.027 c S Q q 1 0 0 1 504.0803 128.0244 cm 0 0 m 0 1.395 1.183 2.534 2.577 2.534 c 4.013 2.534 5.154 1.395 5.154 0 c 5.154 -1.436 4.013 -2.576 2.577 -2.576 c 1.183 -2.576 0 -1.436 0 0 c S Q q 1 0 0 1 505.6428 130.5586 cm 0 0 m 0.803 1.056 2.873 1.901 2.958 1.647 c 3 1.478 2.113 0.76 2.07 0 c S Q q 1 0 0 1 509.2341 129.0381 cm 0 0 m 1.056 -0.802 1.901 -2.83 1.647 -2.914 c 1.479 -2.998 0.76 -2.112 0 -2.027 c S Q q 1 0 0 1 507.7131 125.4483 cm 0 0 m -0.803 -1.055 -2.873 -1.901 -2.915 -1.647 c -3 -1.436 -2.113 -0.76 -2.07 0 c S Q q 1 0 0 1 504.1223 126.8848 cm 0 0 m -1.057 0.76 -1.901 2.829 -1.647 2.914 c -1.479 2.956 -0.761 2.069 0 2.027 c S Q q 1 0 0 1 533.4411 113.2007 cm 0 0 m 0 1.394 1.141 2.576 2.577 2.576 c 4.014 2.576 5.154 1.394 5.154 0 c 5.154 -1.436 4.014 -2.534 2.577 -2.534 c 1.141 -2.534 0 -1.436 0 0 c S Q q 1 0 0 1 535.0036 115.7769 cm 0 0 m 0.803 1.014 2.831 1.901 2.915 1.605 c 3 1.436 2.113 0.76 2.028 0 c S Q q 1 0 0 1 538.5954 114.2144 cm 0 0 m 1.056 -0.76 1.9 -2.83 1.647 -2.915 c 1.436 -2.957 0.76 -2.112 0 -2.027 c S Q q 1 0 0 1 537.032 110.6664 cm 0 0 m -0.76 -1.056 -2.831 -1.943 -2.915 -1.647 c -2.958 -1.478 -2.07 -0.76 -2.028 0 c S Q q 1 0 0 1 533.4836 112.0601 cm 0 0 m -1.057 0.76 -1.901 2.83 -1.648 2.915 c -1.479 2.957 -0.761 2.112 0 2.027 c S Q q 1 0 0 1 533.4411 97.3633 cm 0 0 m 0 1.393 1.141 2.576 2.577 2.576 c 4.014 2.576 5.154 1.393 5.154 0 c 5.154 -1.437 4.014 -2.534 2.577 -2.534 c 1.141 -2.534 0 -1.437 0 0 c S Q q 1 0 0 1 535.0036 99.9395 cm 0 0 m 0.803 1.055 2.831 1.9 2.915 1.647 c 3 1.436 2.113 0.76 2.028 0 c S Q q 1 0 0 1 538.5954 98.377 cm 0 0 m 1.056 -0.761 1.9 -2.83 1.647 -2.915 c 1.436 -2.957 0.76 -2.112 0 -2.028 c S Q q 1 0 0 1 537.032 94.8291 cm 0 0 m -0.76 -1.056 -2.831 -1.943 -2.915 -1.647 c -2.958 -1.478 -2.07 -0.76 -2.028 0 c S Q q 1 0 0 1 533.4836 96.2227 cm 0 0 m -1.057 0.802 -1.901 2.83 -1.648 2.914 c -1.479 2.957 -0.761 2.112 0 2.027 c S Q 0.813 0.602 0 0 K 0.75 w q 1 0 0 1 405.0969 181.1528 cm 0 0 m 0 9.713 l -0.845 25.551 28.094 31.886 53.652 35.349 c 64.088 36.785 73.931 37.714 106.629 33.364 c 117.656 31.886 131.217 29.859 131.555 16.725 c 131.555 16.598 l 131.555 3.294 l S Q 0 0 0 1 K 0.5 w q 1 0 0 1 407.7585 103.7403 cm 0 0 m -20.812 0 l S Q q 1 0 0 1 555.2351 109.6109 cm 0 0 m -22.512 0 l S Q 0.3 w q 1 0 0 1 494.0271 328.3486 cm 0 0 m -7.997 -10.907 l S Q q 1 0 0 1 485.7312 316.123 cm 0 0 m 0.725 0.545 1.253 0.857 1.89 1.254 c -0.246 2.819 l -0.297 2.549 -0.571 1.495 -0.873 0.64 c -1.195 -0.275 -1.539 -1.068 -1.807 -1.549 c -1.428 -1.149 -0.775 -0.583 0 0 c f Q BT /T1_6 1 Tf -0.025 Tc 7 0 0 7 389.8752 330.6689 Tm (Part subject to shape measurement)Tj ET Q BT 0 0 0 1 k /T1_6 1 Tf -0.025 Tc 0.025 Tw 7 0 0 7 432.3302 288.1719 Tm (Measurement )Tj 1.13 -1.143 Td (terminal)Tj 0 Tc 0 Tw -7.695 -18.931 Td (Processed part)Tj 6.167 -7.045 Td (Tool \(cutter, etc.\))Tj -0.025 Tc 3.801 11.833 Td (Runways added)Tj -8.6 13.786 Td (Start point )Tj -6.21 -1.143 Td (\(Feeding started once contact is established\))Tj 22.801 1.143 Td (End point )Tj -2.183 -1.143 Td (\(Released into the air\))Tj 0.025 Tw -3.043 2.643 Td (Measurement )Tj 0.905 -1.143 Td (trajectory)Tj 0 Tw -3.78 -11.964 Td (Target trajectory)Tj ET q 320.24 89.551 235.426 246.935 re W n BT /T1_6 1 Tf 7 0 0 7 485.2152 330.676 Tm (CAD-generated trajectory)Tj ET 10 M 1 j 1 J q 1 0 0 1 481.0305 293.9413 cm 0 0 m -5.75 11.5 l S Q q 1 0 0 1 474.2449 306.3101 cm 0 0 m 0.153 -0.894 0.19 -1.506 0.251 -2.254 c 2.62 -1.07 l 2.403 -0.9 1.59 -0.175 0.968 0.484 c 0.301 1.189 -0.248 1.856 -0.553 2.314 c -0.37 1.795 -0.165 0.956 0 0 c f Q q 1 0 0 1 476.4104 204.4434 cm 0 0 m 6.433 10.223 l S Q q 1 0 0 1 483.0481 216.0024 cm 0 0 m -0.685 -0.595 -1.189 -0.944 -1.796 -1.384 c 0.445 -2.795 l 0.478 -2.521 0.675 -1.45 0.916 -0.576 c 1.173 0.36 1.459 1.175 1.692 1.674 c 1.343 1.248 0.732 0.637 0 0 c f Q q 1 0 0 1 448.3987 293.3779 cm 0 0 m -4.146 6.539 l S Q q 1 0 0 1 443.135 300.6758 cm 0 0 m 0.243 -0.874 0.341 -1.479 0.478 -2.217 c 2.715 -0.799 l 2.481 -0.652 1.6 -0.014 0.914 0.579 c 0.179 1.213 -0.434 1.822 -0.784 2.247 c -0.55 1.749 -0.261 0.935 0 0 c f Q BT /T1_6 1 Tf 7 0 0 7 320.3899 323.6495 Tm [(\(1\) )-279(Shape measurement )]TJ 1.395 Tw 0 -1 TD ( step)Tj ET 0.3 0 0.1 0 k q 1 0 0 1 429.1023 261.3179 cm 0 0 m 0 -3.928 l -8.914 -3.928 l 7.055 -9.756 l 23.024 -3.928 l 14.067 -3.928 l 14.067 0 l h f Q 0.5 w q 1 0 0 1 429.1023 261.3179 cm 0 0 m 0 -3.928 l -8.914 -3.928 l 7.055 -9.756 l 23.024 -3.928 l 14.067 -3.928 l 14.067 0 l 0 0 l h S Q q 1 0 0 1 429.1023 163.6514 cm 0 0 m 0 -3.928 l -8.914 -3.928 l 7.055 -9.756 l 23.024 -3.928 l 14.067 -3.928 l 14.067 0 l h f Q q 1 0 0 1 429.1023 163.6514 cm 0 0 m 0 -3.928 l -8.914 -3.928 l 7.055 -9.756 l 23.024 -3.928 l 14.067 -3.928 l 14.067 0 l 0 0 l h S Q Q BT /T1_6 1 Tf 7 0 0 7 321.5159 305.5264 Tm (Measurement based )Tj 0 -1 TD (on the CAD-generated )Tj 0.025 Tw T* (trajectory)Tj ET q 320.24 89.551 235.426 246.935 re W n 10 M 1 j 1 J q 1 0 0 1 320.3895 107.1628 cm 0 0 m 62.361 0 l 62.361 34.015 l 0 34.015 l h S Q BT /T1_6 1 Tf 0 Tc 0 Tw 7 0 0 7 320.3899 145.6494 Tm [(\(2\) )-204(Cutting step)]TJ ET Q BT /T1_6 1 Tf 0 Tc 0 Tw 7 0 0 7 323.5189 132.5244 Tm (High-speed )Tj T* (reproduction and )Tj T* (processing under )Tj T* (position control)Tj ET q 320.24 89.551 235.426 246.935 re W n 10 M 1 j 1 J q 1 0 0 1 320.3895 226.0018 cm 0 0 m 62.361 0 l 62.361 19.842 l 0 19.842 l h S Q Q BT /T1_6 1 Tf 7 0 0 7 322.5159 237.1934 Tm (Generation of target )Tj T* (trajectory)Tj -0.036 Tc -0.004 Tw 9.498 1.38 Td [(T)-1(r)-1(a)-10(j)25(e)9(c)1.1(t)-1.1(or)-9(y)-9( sh)-2(i)8(f)-9(t)-11( )-3(\()-3(m)1(e)9(a)6(su)-10(r)-1(em)1.1(en)-7(t)-11( )-13(t)-1(er)-10(m)-1(i)-2(n)1(a)-2(l)-3( )]TJ /C0_0 1 Tf 0 Tc 0 Tw 14.586 -0.049 Td <009A>Tj /T1_6 1 Tf -0.037 Tc -0.003 Tw 1.011 0.049 Td [( )-13(t)-2(o)8(o)6(l)-4( s)6(i)1(z)3.9(e)-1.9( )-5.1(ad)-12(j)15(u)3(st)-10(me)-1(n)-8(t)4(,)3( )]TJ -0.035 Tc 0 Tw -15.597 -1.118 Td [(i)-1(n)-9(p)2(u)-8(t)-10( o)12(f)-10( c)1(u)-8(t)-7(t)-2(i)-1(ng)-4( dep)3(t)-8(h)-2(\))2( )-10(/)-4(D)11(a)-6(ta)-9( )-2(i)-1(n)-6(te)1(r)-7(v)3(a)-1(l)-2( a)1(d)-10(j)17(u)5(s)2(t)-8(m)2(e)0.9(n)-6(t)-10( )2(\()5(l)8(o)3(w)4(-)17(sp)11(e)10(e)10(d)-10( )]TJ -0.036 Tc 0.036 Tw 0.007 -1.167 Td [(m)1(e)9(a)5(su)-10(r)-1(em)1(en)-6.9(t)-11.1( )]TJ /C0_0 1 Tf 0 Tc 0 Tw 5.159 -0.049 Td <006D>Tj /T1_6 1 Tf -0.045 Tc 0.019 Tw 0.954 0.049 Td [( h)-11(i)-4(g)-13(h)-7(-)7(s)-10(p)1(eed)-20( )-1(p)-8(r)-10(oc)1(e)6(s)5(s)-2(i)-11(n)-10(g)-8(\))]TJ ET q 320.24 89.551 235.426 246.935 re W n q 1 0 0 1 425.7805 328.1625 cm 0 0 m -10.5 -12.721 l S Q q 1 0 0 1 414.2366 316.3033 cm 0 0 m -0.476 -0.577 -0.394 -1.43 0.182 -1.906 c 0.759 -2.381 1.612 -2.3 2.088 -1.723 c 2.563 -1.147 2.482 -0.294 1.906 0.182 c 1.329 0.658 0.476 0.576 0 0 c f Q q 1 0 0 1 400.7805 145.6626 cm 0 0 m 10 -12.721 l S Q q 1 0 0 1 409.7165 132.1049 cm 0 0 m 0.462 -0.588 1.313 -0.689 1.9 -0.228 c 2.488 0.234 2.59 1.085 2.128 1.673 c 1.666 2.26 0.815 2.362 0.228 1.9 c -0.36 1.438 -0.462 0.587 0 0 c f Q 0.5 w 10 M 2 j [4 2]0 d q 1 0 0 1 425.0305 187.6913 cm 0 0 m 0 -6.534 -6.324 -11.831 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0.334 -2.243 c 2.658 -0.972 l 2.434 -0.811 1.596 -0.117 0.949 0.52 c 0.257 1.2 -0.315 1.847 -0.638 2.293 c -0.436 1.781 -0.2 0.95 0 0 c f Q 10 M 1 j 1 J q 1 0 0 1 423.9031 221.704 cm 0 0 m -2.123 -10.513 l S Q q 1 0 0 1 422.0627 209.8696 cm 0 0 m 0.429 0.799 0.777 1.304 1.188 1.931 c -1.407 2.456 l -1.34 2.188 -1.146 1.117 -1.061 0.214 c -0.97 -0.752 -0.948 -1.616 -0.989 -2.165 c -0.814 -1.643 -0.459 -0.855 0 0 c f Q 0.5 w 2 j 0 J [4 2]0 d q 1 0 0 1 320.3899 169.5249 cm 0 0 m 235.275 0 l S Q EMC Q BT /GS0 gs /T1_1 1 Tf 0 Tc 0 Tw 8 0 0 8 389.2454 77.9028 Tm [(Fig)15(.)30( 6)]TJ /T1_4 1 Tf 2.344 0.018 Td [( Chamfering pr)19.1(ocess)]TJ ET endstreamendobj47 0 obj<>]/Filter[/FlateDecode]/Height 368/Length 474970/Subtype/Image/Type/XObject/Width 544>>stream HToT RUUR=^ aq 6xW`(olnBU*Ҫ_:>:{fv(>S3y?~]8nmO䗵ȯj#艼s4'ɑ.??>@UQ广U֯7kfKewoUۖko>fY7OkoR<}/Jq%keME/Lq×W1Ɨ1EM/c [D!1_F\!)+.>0O:Ϝ@#oy2sW\1f9{,3`4)){8Nq[a06'62mCA?H#S&JRLd&M̎u!2f#2Hci!]g"o#mV#mh$M&"4 ?EZR'[ɐ jO⛓"2hi"SirFD]z3mOk Mzk I9cv 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398.5573 cm 0 0 m 0.28 0.926 0.538 1.528 0.835 2.271 c -1.989 2.271 l -1.863 2.005 -1.434 0.926 -1.154 0 c -0.854 -0.991 -0.65 -1.889 -0.577 -2.472 c -0.504 -1.889 -0.299 -0.991 0 0 c f Q q 1 0 0 1 121.13 405.8801 cm 0 0 m -0.28 -0.926 -0.538 -1.528 -0.835 -2.271 c 1.989 -2.271 l 1.863 -2.005 1.434 -0.926 1.154 0 c 0.854 0.991 0.65 1.889 0.577 2.472 c 0.504 1.889 0.299 0.991 0 0 c f Q Q BT 0 0 0 1 k /T1_4 1 Tf 7 0 0 7 101.5313 477.8112 Tm (PC for control)Tj -0.025 Tc 0.025 Tw 0.779 -1.368 Td (Trajectory )Tj 0 Tw -0.431 -1 Td (memory and )Tj 0.025 Tw 0.403 -1 Td (coordinate )Tj 0 Tw -0.799 -1 Td (calculation unit)Tj 0.025 Tw 0.925 -3.145 Td (Real-time )Tj 0.53 -1 Td (control )Tj 0 Tw -1.455 -1 Td (calculation unit)Tj ET q 1 0 0 1 224.797 405.3792 cm 0 0 m 17.532 0 l 17.532 64.263 l -69.279 64.263 l -69.279 19.465 l -76.514 19.465 l S Q q 39.785 345.215 235.075 139.638 re W n 0 1 1 0 k q 1 0 0 1 146.9601 424.2708 cm 0 0 m 0.926 -0.28 1.528 -0.538 2.271 -0.835 c 2.271 1.989 l 2.005 1.863 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c 15.138 0.116 12.821 4.123 8.936 5.165 c 5.044 6.201 1.036 3.905 0 0 c B Q 0.426 0.125 0 0 k q 1 0 0 1 209.6822 405.2961 cm 0 0 m 14.102 -3.768 l 15.983 3.284 l 1.888 7.046 l h f Q q 1 0 0 1 209.6822 405.2961 cm 0 0 m 14.102 -3.768 l 15.983 3.284 l 1.888 7.046 l 0 0 l h S Q 0.46 0.16 0.73 0 k q 1 0 0 1 209.4166 390.257 cm 0 0 m 7.054 -1.881 l 10.844 12.218 l 3.79 14.099 l h f Q q 1 0 0 1 209.4166 390.257 cm 0 0 m 7.054 -1.881 l 10.844 12.218 l 3.79 14.099 l 0 0 l h S Q 0 0 0 0.3 k q 1 0 0 1 209.6617 382.632 cm 0 0 m 2.801 -0.75 l 4.709 6.303 l 1.881 7.046 l h f Q q 1 0 0 1 209.6617 382.632 cm 0 0 m 2.801 -0.75 l 4.709 6.303 l 1.881 7.046 l 0 0 l h S Q Q BT 0 0 0 1 k /T1_4 1 Tf 0 Tc 7 0 0 7 98.5177 385.6345 Tm (Robot controller)Tj 6.6527 0 0 6.6527 155.1368 370.7185 Tm (Industrial )Tj 0.986 -1.143 Td (robot)Tj 7 0 0 7 191.6974 395.4265 Tm (Tool)Tj ET q 39.785 345.215 235.075 139.638 re W n BT /T1_4 1 Tf -0.02 Tc 7 0 0 7 215.7424 365.7185 Tm (Contact reaction force)Tj ET Q BT /T1_4 1 Tf 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-0.713 0.224 -1.473 -0.174 -1.696 -0.887 c -1.919 -1.601 -1.522 -2.36 -0.809 -2.583 c -0.095 -2.806 0.664 -2.409 0.887 -1.696 c 1.111 -0.982 0.713 -0.223 0 0 c f Q q 1 0 0 1 234.8858 388.9744 cm 0 0 m -19.986 8.544 l S Q q 1 0 0 1 215.4322 398.7634 cm 0 0 m -0.687 0.294 -1.483 -0.025 -1.777 -0.712 c -2.071 -1.4 -1.751 -2.195 -1.064 -2.489 c -0.377 -2.783 0.418 -2.464 0.712 -1.777 c 1.006 -1.089 0.687 -0.294 0 0 c f Q q 1 0 0 1 198.8951 393.1696 cm 0 0 m 8.93 -5.371 l S Q q 1 0 0 1 209.1646 387.6204 cm 0 0 m -0.608 0.672 -0.968 1.17 -1.42 1.769 c -2.785 -0.501 l -2.511 -0.528 -1.437 -0.704 -0.558 -0.927 c 0.383 -1.166 1.204 -1.435 1.708 -1.658 c 1.274 -1.318 0.651 -0.719 0 0 c f Q Q q 39.945 350.221 48.19 82.609 re W n q 48.1889594 0 0 82.6096521 39.9450951 350.2207617 cm /Im0 Do Q Q 0 0 0 0.2 k 103.742 345.215 170 12.001 re f 0 0 0 1 K 0.5 w 1 J q 1 0 0 1 273.7418 357.1735 cm 0 0 m -169.842 0 l S Q 0 1 1 0 K 0.7 w q 1 0 0 1 85.0748 460.2341 cm 0 0 m 9.667 0 l S Q q 39.785 345.215 235.075 139.638 re W n 0 1 1 0 k q 1 0 0 1 96.0641 460.8079 cm 0 0 m -0.926 0.28 -1.528 0.538 -2.271 0.835 c -2.271 -1.989 l -2.005 -1.863 -0.926 -1.434 0 -1.154 c 0.991 -0.854 1.889 -0.65 2.472 -0.577 c 1.889 -0.504 0.991 -0.299 0 0 c f Q 0.207 0.063 0.313 0 k 40.035 439.212 48.189 45.354 re f 0 0 0 1 K 0.5 w q 1 0 0 1 40.0348 439.2119 cm 0 0 m 48.189 0 l 48.189 45.354 l 0 45.354 l h S Q Q BT 0 0 0 1 k /T1_4 1 Tf -0.01 Tc -0.001 Tw 7 0 0 7 44.5704 477.4685 Tm [(P)10.6(C)0.6( fo)1.8(r)-10( )-0.9(e)9.9(d)-1.9(it)-1.9(i)-0.9(ng)-4.6( )]TJ -0.011 Tc 0.001 Tw -0.055 -1 Td [(C)2.5(A)-2.2(D d)-0.8(a)-7.4(t)-0.8(a)-9.8( a)-8.3(nd)-11( )]TJ -0.01 Tc 0.01 Tw 0.803 -1 Td [(t)-8.5(ra)-8.7(j)26(e)9.8(c)2(to)1(r)-1.8(i)7.7(e)14.9(s)]TJ ET q 67.1 441.169 18.153 19.841 re W n q 18.1536979 0 0 19.8424123 67.1001511 441.1696173 cm /Im1 Do Q Q q 43.006 441.175 18.998 19.842 re W n q 18.9981465 0 0 19.8425077 43.0058022 441.1746832 cm /Im2 Do Q EMC Q BT /GS0 gs /T1_1 1 Tf 0 Tc 0 Tw 8 0 0 8 92.3716 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par)-20.1(ts with comple)14.8(x shapes because the contact)12( )]TJ 0 Tc 0 Tw T* [(betw)35(een abrasi)25(v)15(es and par)-20(ts is af)25(fected b)25(y their shapes.)]TJ 0.007 Tc 0.125 Tw 0.578 -1.21 Td [(In order to solv)14.8(e these prob)19.8(lems, application of a robot)7( )]TJ 0.035 Tc -0.578 -1.21 Td [(ar)-19.9(m with a wide range of motion capab)20.1(le of comple)15.2(x)35( )]TJ 0 Tc 0.013 Tw T* [(mo)45(v)15(ements has been proposed.)]TJ 0 Tw 6.37 0 0 6.5 181.7947 675.9261 Tm (\(5\)-\(9\))Tj 0.013 Tw 9.8 0 0 10 198.7705 672.4261 Tm [( Ho)40(w)35(e)25(v)15(er)40.1(, the adv)25(antage )]TJ 0.033 Tc 0.125 Tw -14.208 -1.21 Td [(of a wide range)0.5( of moti)0.5(on c)0.5(auses the disadv)25.4(antage of)33( )]TJ T* [(lo)39.9(w absolute positioning precision \(1/10 to 1/100 that)33( )]TJ 0.028 Tc T* [(of )0.5(a pr)0.5(oce)0.5(ssin)0.5(g ma)0.5(chin)0.5(e\). )0.5(It is)0.5( dif)25.4(f)-59.5(icul)0.5(t to )0.5(obta)0.5(in hi)0.5(gh)28( )]TJ 0.016 Tc T* [(geometrical precision with robot 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In order to solv)15(e this prob)20.1(lem, the)22.1( )]TJ 0 Tc 0.011 Tw 0 -1.21 TD [(passi)25(v)15(e mechanism compensates for these er)-30(rors b)25(y shifting )]TJ 0.028 Tc 0.125 Tw 0 -1.21 TD [(the tool to)40.1(w)25.2(ard the actual position of the par)-19.8(t surf)-9.9(ace.)28( )]TJ 0.035 Tc 0 -1.21 TD [(Ho)39.9(w)34.9(e)25(v)14.9(er)39.9(, the tool tilts due to g)-20.1(ra)34.9(vity because passi)24.9(v)14.9(e)35( )]TJ 0 Tc 0.113 Tw 0 -1.21 TD [(mechanisms consist of springs or the lik)10(e, and this causes )]TJ 0.027 Tc 0.125 Tw 0 -1.21 TD [(the pushing force to change. )54.8(As a result, the precision)27( )]TJ 0.033 Tc 0 -1.21 TD [(i)0.5(s)0.5( )0.5(w)40.5(o)0.5(r)0.5(s)0.5(e)0.5(n)0.5(e)0.5(d)0.5( )0.5(e)0.5(s)0.5(p)0.5(e)0.5(c)0.5(i)0.5(a)0.6(l)0.5(l)25.4(y)0.5( )0.5(i)0.5(n)0.5( )0.5(t)0.5(h)0.5(e)0.5( )0.5(p)0.5(r)0.5(o)0.5(c)0.5(e)0.5(s)0.5(s)0.5(i)0.5(n)0.5(g)0.5( )0.5(o)0.5(f)0.5( )0.5(p)0.5(a)0.5(r)-19.5(t)0.5(s)0.5( )0.5(w)0.5(i)0.5(t)0.5(h)33( )]TJ 0.001 Tc 0 -1.21 TD [(comple)15.4(x shapes w)20.4(hich require)0.5(s orientation changes of the)1( )]TJ 0 Tc 0 Tw 0 -1.21 TD (tool.)Tj 0.01 Tc 0.125 Tw 0.578 -1.21 Td [(M)0.5(e)0.6(t)0.5(h)0.5(o)0.5(d)0.6( )0.5(\()0.5(3)0.5(\))0.6( )0.5(e)0.5(n)0.6(a)0.5(b)20.5(l)0.5(e)0.6(s)0.5( )0.5(p)0.5(r)0.6(e)0.5(c)0.5(i)0.6(s)0.5(e)0.5( )0.6(c)0.5(o)0.5(n)0.5(t)0.6(r)0.5(o)0.5(l)0.5( )0.6(o)0.5(f)0.5( )0.5(t)0.5(h)0.6(e)0.5( )0.5(c)0.6(o)0.5(n)0.5(t)0.5(a)0.6(c)0.5(t)0.5( )0.6(f)0.5(o)0.5(r)0.5(c)0.6(e)10( )]TJ 0.018 Tc 26.032 67.766 Td [(betw)34.7(een the tool and the par)-20.3(ts because the influence of)18( )]TJ 0.012 Tc 0 -1.21 TD [(g)-19.8(ra)35.2(vity is remo)45.2(v)15.2(ed b)25.2(y measuring the mass and center of)12( )]TJ 0.021 Tc T* [(g)-20.1(ra)34.9(vity of the tool beforehand. )54.9(Additionall)24.9(y)84.8(, processing)21( )]TJ 0.014 Tc T* [(w)20.4(he)0.5(re th)0.5(ere )0.5(is not)0.5( much )0.5(spac)0.5(e is )0.5(possi)0.5(b)20.4(le be)0.5(caus)0.5(e the)0.5(re)14( )]TJ 0.013 Tc 0 -1.21 TD [(i)0.5(s)0.6( )0.5(n)0.6(o)0.5( )0.5(l)0.6(a)0.5(r)18.6(g)0.5(e)0.6( )0.5(m)0.6(e)0.5(c)0.5(h)0.6(a)0.5(n)0.6(i)0.5(s)0.6(m)0.5( )0.5(n)0.6(e)0.5(a)0.6(r)0.5( )0.6(t)0.5(h)0.6(e)0.5( )0.5(t)0.6(o)0.5(o)0.6(l)0.5(.)0.6( )0.5(O)0.5(n)0.6( )0.5(t)0.6(h)0.5(e)0.6( )0.5(o)0.5(t)0.6(h)0.5(e)0.6(r)0.5( )0.5(h)0.6(a)0.5(n)0.6(d)60.5(,)13( )]TJ 0.052 Tc 0 -1.21 TD [(processing with a force control robot still f)-10.4(aces the)52( )]TJ 0 Tc 0 Tw 0 -1.21 TD [(follo)40(wing prob)20(lems:)]TJ 0.043 Tc 0.125 Tw 1.012 -1.21 Td (-)Tj /Span<>> BDC 0.333 0 Td ( )Tj EMC 0.679 0 Td [(The tool tracks the lar)18.3(ge b)-4.7(ur)-29.8(rs left b)25.3(y processes)43( )]TJ 0.007 Tc T* [(such as planking and broaching. )54.7(As a result, quality)7( )]TJ 0 Tc 0 Tw 0 -1.21 TD [(standards are not satisf)-59.9(ied.)]TJ 0.074 Tw -1.012 -1.21 Td (-)Tj /Span<>> BDC ( )Tj EMC 1.012 0 Td [(In order to precisel)25(y track par)-20(ts with comple)15(x shapes, )]TJ 0.031 Tw 0 -1.21 TD [(it is necessar)-20(y )0.5(to reduce the feeding speed because the )]TJ 0.1 Tw 0 -1.21 TD [(tracking er)-30(ror of the contact force is dependent on it. )]TJ 0 Tw 0 -1.21 TD [(As a result, production tact time gets longer)55(.)]TJ 0.012 Tc 0.125 Tw -1.012 -1.21 Td (-)Tj /Span<>> BDC 0.333 0 Td ( )Tj EMC 0.679 0 Td [(The perfor)-20.3(mance of commercial industrial robots is)12( )]TJ 0 Tc 0.044 Tw 0 -1.21 TD [(too )0.5(lo)40(w )0.5(to achie)25(v)15(e )0.5(high-speed )0.5(high-precision tracking. )]TJ 0.027 Tc 0.125 Tw 0 -1.21 TD [(At the same time, the de)24.5(v)14.6(elopment cost of a high)27( )]TJ 0 Tc 0 Tw 0 -1.21 TD [(perfor)-20(mance robot is too high.)]TJ 0.015 Tc 0.125 Tw -1.012 -1.21 Td (-)Tj /Span<>> BDC 0.333 0 Td ( )Tj EMC 0.679 0 Td [(Setting the conditions to control the dimensions b)24.6(y)15( )]TJ 0 Tc 0.109 Tw 0 -1.21 TD (selecting the right types of tools and their processing )Tj 0.023 Tc 0.125 Tw T* [(conditions \(e.g., pushing force, feeding speed)59.9(, and)23( )]TJ 0.049 Tc T* [(rotational speed of the tool\) is complicated and)48.9( )]TJ 0 Tc 0 Tw T* (requires a long time.)Tj 0.063 Tc 0.125 Tw -1.446 -1.21 Td [(In order to solv)15(e these prob)20.1(lems, w)35(e de)25(v)15(eloped a)63.1( )]TJ 0.024 Tc -0.578 -1.21 Td [(f)0.5(o)0.5(r)0.6(c)0.5(e)0.6( )0.5(t)0.5(r)0.5(a)0.6(c)0.5(k)0.5(i)0.5(n)0.6(g)0.5( )0.5(c)0.5(o)0.6(n)0.5(t)0.5(r)0.5(o)0.6(l)0.5( )0.5(s)0.5(y)0.6(s)0.5(t)0.5(e)0.5(m)0.6( )0.5(b)0.5(a)0.6(s)0.5(e)0.5(d)0.5( )0.5(o)0.6(n)0.5( )0.5(t)0.5(h)0.6(e)0.5( )0.5(c)0.6(o)0.5(m)0.5(m)0.5(e)0.6(r)0.5(c)0.5(i)0.6(a)0.5(l)24( )]TJ 0 Tc 0.108 Tw T* (industrial robot, proposed a high-precision and high-speed )Tj 0.093 Tw T* (chamfering method consisting of a measurement step with )Tj 0.029 Tc 0.125 Tw T* [(force tracking control and a cutting step with position)29( )]TJ 0.003 Tc T* [(control, and impro)44.8(v)14.7(ed the proposed method with iterati)24.8(v)14.7(e)3( )]TJ 0 Tc 0.043 Tw T* [(lear)-19.9(ning. )49.7(The proposed method is a combination of method )]TJ 0.023 Tc 0.125 Tw T* [(\(1\) and method \(3\), and the adv)24.8(antages of both can be)23( )]TJ 0 Tc 0 Tw T* [(e)15(xpect.)]TJ /T1_1 1 Tf 12 0 0 12 320.315 363.7975 Tm [(3)12.3(.)]TJ /Span<>> BDC ( )Tj EMC 1.654 0 Td [(F)47.1(o)14.8(r)6.6(c)3.1(e t)-14.3(r)2.1(a)10.7(c)15.6(k)-33.4(i)-10.4(n)4.1(g c)5.1(o)14.8(n)17.6(t)-14.4(r)6.6(o)8.8(l b)21.6(y an i)-10.4(n)12.1(d)15.6(u)3.6(s)3.6(t)-14.4(r)-17.3(ia)-8.4(l )]TJ -0.013 Tc 0.013 Tw 0 -1.008 TD [(r)-6.4(ob)-10.4(o)-2.8(t)]TJ /T1_0 1 Tf 0 Tc 0.043 Tw 9.8 0 0 10 320.315 333.5953 Tm [(F)50(orce tracking control enab)20(les industrial robots to precisel)25(y )]TJ 0.033 Tc 0.125 Tw 0 -1.21 TD [(track the shape of a tar)18.3(get object e)25.3(v)15.3(en if the absolute)33( )]TJ 0.025 Tc T* [(positioning precision of the robot is lo)40.4(w or there is an)25( )]TJ 0.014 Tc T* [(installation position er)-29.9(ror of the object. )]TJ /T1_1 1 Tf 10 0 0 10 489.2369 297.292 Tm [(Figur)30.1(e)]TJ /Span<>> BDC ( )Tj EMC (1)Tj /T1_0 1 Tf 9.8 0 0 10 527.1274 297.292 Tm [( sho)40.1(ws)14.1( )]TJ 0.005 Tc -21.103 -1.21 Td [(a conceptual diag)-20.1(ram of the force tracking control of the)5.1( )]TJ 0 Tc 0 Tw T* [(robot. It w)40(orks according to the follo)40(wing steps:)]TJ 0.028 Tc 0.125 Tw 1.012 -1.21 Td [(\(1\) )54.6(A preliminar)-20.4(y trajector)-20.3(y is generated from CAD)28.1( )]TJ ET 0 0 0 0 k /GS1 gs 320.315 76.535 235.276 164.127 re f /PlacedPDF /MC0 BDC q 339.925 89.582 196.056 151.08 re W n 0 0 0 0.2 k q 1 0 0 1 378.7262 169.9881 cm 0 0 m 8.539 1.066 17.763 6.211 27.396 10.205 c 38.289 14.692 51.538 19.047 63.279 18.856 c 73.843 18.664 80.937 13.646 87.779 7.106 c 91.993 3.084 94.864 -2.229 99.279 -6.644 c 114.279 -21.644 135.052 -32.554 149.59 -25.662 c 149.59 -14.912 l 135.052 -21.804 112.291 -11.151 100.39 4.348 c 96.585 9.299 93.875 14.744 89.661 18.766 c 82.819 25.306 72.008 28.124 61.443 28.315 c 49.702 28.507 38.289 25.442 27.396 20.955 c 17.763 16.96 8.539 11.816 0 10.75 c -4.653 10.147 -9.086 10.75 -13.712 13.075 c -21.874 17.182 -30.683 26.608 -37.213 27.525 c -37.213 16.775 l -30.683 15.858 -21.874 6.433 -13.712 2.325 c -9.086 0 -4.653 -0.603 0 0 c f Q 0 0 0 1 K 0.3 w 1 j 1 J q 1 0 0 1 435.505 171.344 cm 0 0 m 2.787 13.504 l S Q 0 0 0 1 k q 1 0 0 1 438.0157 186.1717 cm 0 0 m -0.432 -0.797 -0.783 -1.301 -1.197 -1.926 c 1.396 -2.461 l 1.331 -2.194 1.141 -1.122 1.06 -0.219 c 0.973 0.748 0.955 1.611 0.998 2.16 c 0.821 1.639 0.462 0.853 0 0 c f Q q 1 0 0 1 438.3766 231.6277 cm 0 0 m -3.612 -10.031 l S Q q 1 0 0 1 434.8513 220.2474 cm 0 0 m 0.541 0.728 0.959 1.177 1.458 1.737 c -1.034 2.635 l -1.007 2.36 -0.971 1.272 -1.018 0.367 c -1.069 -0.603 -1.174 -1.46 -1.294 -1.997 c -1.045 -1.506 -0.579 -0.779 0 0 c f Q q 1 0 0 1 365.941 214.1482 cm 0 0 m -8.484 -7.825 l S Q q 1 0 0 1 356.9099 205.0867 cm 0 0 m 0.816 0.396 1.395 0.601 2.096 0.868 c 0.3 2.814 l 0.197 2.558 -0.273 1.577 -0.733 0.795 c -1.226 -0.041 -1.715 -0.753 -2.07 -1.173 c -1.622 -0.854 -0.873 -0.423 0 0 c f Q 0 0 0 0.4 k 0.5 w q 1 0 0 1 344.9323 199.9178 cm 0 0 m 0 -3.201 2.573 -5.8 5.775 -5.8 c 8.977 -5.8 11.577 -3.201 11.577 0 c 11.577 3.174 8.977 5.773 5.775 5.773 c 2.573 5.773 0 3.174 0 0 c B Q q 1 0 0 1 341.0734 197.5374 cm 0 0 m 6.541 -0.821 15.409 -10.343 23.619 -14.474 c 28.245 -16.8 32.678 -17.402 37.331 -16.8 c 45.87 -15.732 55.094 -10.589 64.728 -6.594 c 75.62 -2.107 87.033 0.958 98.774 0.766 c 109.339 0.574 120.15 -2.244 126.992 -8.783 c 131.207 -12.805 133.917 -18.25 137.721 -23.202 c 149.654 -38.743 172.507 -49.414 187.04 -42.41 c S Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 350.7072 199.9178 cm 0 0 m -8.676 -13.024 l S Q 0.813 0.602 0 0 k q 1 0 0 1 341.775 185.4749 cm 0 0 m 0.747 0.615 1.294 0.974 1.954 1.426 c -0.397 2.993 l -0.439 2.701 -0.68 1.565 -0.96 0.64 c -1.261 -0.351 -1.588 -1.212 -1.851 -1.737 c -1.467 -1.293 -0.798 -0.659 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 363.0753 187.9036 cm 0 0 m 0 -3.201 2.6 -5.773 5.775 -5.773 c 8.977 -5.773 11.577 -3.201 11.577 0 c 11.577 3.201 8.977 5.773 5.775 5.773 c 2.6 5.773 0 3.201 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 368.8502 187.9036 cm 0 0 m -5.145 -15.979 l S Q 0.813 0.602 0 0 k q 1 0 0 1 363.8463 170.4896 cm 0 0 m 0.55 0.796 0.979 1.29 1.491 1.905 c -1.198 2.771 l -1.159 2.479 -1.081 1.321 -1.099 0.354 c -1.118 -0.681 -1.198 -1.599 -1.307 -2.176 c -1.059 -1.644 -0.588 -0.852 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 387.3541 192.202 cm 0 0 m 0 -3.201 2.573 -5.8 5.775 -5.8 c 8.977 -5.8 11.577 -3.201 11.577 0 c 11.577 3.174 8.977 5.773 5.775 5.773 c 2.573 5.773 0 3.174 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 393.129 192.202 cm 0 0 m 6.35 -12.695 l S Q 0.813 0.602 0 0 k q 1 0 0 1 400.5836 178.5804 cm 0 0 m -0.164 0.953 -0.203 1.607 -0.269 2.404 c -2.795 1.141 l -2.563 0.959 -1.696 0.187 -1.032 -0.516 c -0.321 -1.269 0.264 -1.98 0.59 -2.469 c 0.395 -1.915 0.176 -1.02 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 412.8893 201.7161 cm 0 0 m 0 -3.201 2.6 -5.773 5.802 -5.773 c 8.977 -5.773 11.577 -3.201 11.577 0 c 11.577 3.201 8.977 5.773 5.802 5.773 c 2.6 5.773 0 3.201 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 418.6915 201.7161 cm 0 0 m 5.173 -11.984 l S Q 0.813 0.602 0 0 k q 1 0 0 1 424.9156 188.7454 cm 0 0 m -0.11 0.961 -0.112 1.616 -0.133 2.416 c -2.727 1.296 l -2.505 1.102 -1.683 0.282 -1.06 -0.458 c -0.392 -1.249 0.152 -1.992 0.45 -2.499 c 0.286 -1.935 0.118 -1.028 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 437.4943 204.1512 cm 0 0 m 0 -3.201 2.573 -5.773 5.774 -5.773 c 8.977 -5.773 11.55 -3.201 11.55 0 c 11.55 3.201 8.977 5.773 5.774 5.773 c 2.573 5.773 0 3.201 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 443.2687 204.1512 cm 0 0 m 0 -11.108 l S Q 0.813 0.602 0 0 k q 1 0 0 1 443.8424 191.72 cm 0 0 m 0.28 0.926 0.538 1.528 0.835 2.271 c -1.989 2.271 l -1.863 2.005 -1.434 0.926 -1.154 0 c -0.854 -0.991 -0.65 -1.889 -0.577 -2.472 c -0.504 -1.889 -0.299 -0.991 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 462.5309 196.1907 cm 0 0 m 0 -3.201 2.6 -5.801 5.802 -5.801 c 9.004 -5.801 11.577 -3.201 11.577 0 c 11.577 3.174 9.004 5.773 5.802 5.773 c 2.6 5.773 0 3.174 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 468.3331 196.1907 cm 0 0 m -8.484 -9.248 l S Q 0.813 0.602 0 0 k q 1 0 0 1 459.3776 185.5799 cm 0 0 m 0.832 0.493 1.429 0.763 2.15 1.108 c 0.069 3.018 l -0.018 2.737 -0.431 1.652 -0.851 0.78 c -1.3 -0.152 -1.756 -0.953 -2.096 -1.432 c -1.648 -1.051 -0.89 -0.528 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 482.7823 172.5296 cm 0 0 m 0 -3.201 2.573 -5.773 5.775 -5.773 c 8.977 -5.773 11.577 -3.201 11.577 0 c 11.577 3.201 8.977 5.773 5.775 5.773 c 2.573 5.773 0 3.201 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 488.5573 172.5296 cm 0 0 m -11.878 -9.795 l S Q 0.813 0.602 0 0 k q 1 0 0 1 476.0236 161.4505 cm 0 0 m 0.892 0.373 1.521 0.557 2.283 0.8 c 0.486 2.979 l 0.361 2.713 -0.198 1.695 -0.734 0.891 c -1.309 0.029 -1.871 -0.701 -2.274 -1.128 c -1.778 -0.813 -0.955 -0.4 0 0 c f Q 0 0 0 0.4 k 0 0 0 1 K 0.5 w q 1 0 0 1 511.7189 158.9373 cm 0 0 m 0 -3.202 2.6 -5.801 5.775 -5.801 c 8.977 -5.801 11.577 -3.202 11.577 0 c 11.577 3.201 8.977 5.773 5.775 5.773 c 2.6 5.773 0 3.201 0 0 c B Q 0.813 0.602 0 0 K 0.7 w q 1 0 0 1 517.4938 158.9373 cm 0 0 m 0 -15.049 l S Q 0.813 0.602 0 0 k q 1 0 0 1 518.0675 142.5657 cm 0 0 m 0.28 0.926 0.538 1.528 0.835 2.271 c -1.989 2.271 l -1.863 2.005 -1.434 0.926 -1.154 0 c -0.854 -0.991 -0.65 -1.889 -0.577 -2.472 c -0.504 -1.889 -0.299 -0.991 0 0 c f Q 0 0.957 0.941 0 K 0.5 w 2 j 0 J q 1 0 0 1 410.1715 210.594 cm 0 0 m 10.834 6 27.167 7.5 v 43.5 9 51 4.833 y S Q 0 0.957 0.941 0 k q 1 0 0 1 462.7091 215.2762 cm 0 0 m -0.722 0.744 -1.151 1.298 -1.692 1.964 c -3.162 -0.682 l -2.847 -0.702 -1.613 -0.861 -0.601 -1.081 c 0.483 -1.316 1.431 -1.592 2.015 -1.827 c 1.507 -1.455 0.772 -0.795 0 0 c f Q 0.609 0 1 0 K [3 2]0 d q 1 0 0 1 340.505 198.094 cm 0 0 m 3.5 0.5 11 -3.833 v 14.752 -6.001 27.8 -16.161 37.667 -14.333 c 42.167 -13.5 43.167 -14.167 54 -8.333 c 64.833 -2.5 72 0.167 78.5 3.167 c 86.104 6.676 106.5 9.667 113.333 8.5 c 120.167 7.333 128.333 6.833 139.167 -5 c 150 -16.833 146.833 -13.833 152.833 -19 c 158.833 -24.167 168 -27.833 178.667 -29.833 c 189.333 -31.833 195.333 -27.667 y S Q Q BT 0 0 0 1 k /T1_2 1 Tf 0 Tc 0 Tw 7 0 0 7 368.254 213.345 Tm (Tool)Tj ET q 339.925 89.582 196.056 151.08 re W n BT 0 1 1 0 k /T1_2 1 Tf 7 0 0 7 405.501 234.842 Tm (Position \(speed\) control)Tj ET Q BT 0.813 0.602 0 0 k /T1_2 1 Tf 7 0 0 7 405.501 163.3441 Tm (Pushing force control)Tj 0 0 0 1 k -4.054 -5.179 Td [(\(Note\) )-4429(: Actual edge and surface of the part)]TJ 0 -1.286 TD ( )Tj ET q 339.925 89.582 196.056 151.08 re W n BT /T1_2 1 Tf 7 0 0 7 428.1461 118.0891 Tm (: Trajectory generated from CAD data)Tj ET Q BT /T1_2 1 Tf 7 0 0 7 377.123 109.087 Tm ( )Tj 7.289 0 Td (: Feeding direction of the tool)Tj -7.289 -1.286 Td ( )Tj 7.289 0 Td (: Pushing direction perpendicular to )Tj ET q 339.925 89.582 196.056 151.08 re W n BT /T1_2 1 Tf 7 0 0 7 377.123 91.083 Tm ( )Tj 7.289 0 Td ( the feeding direction)Tj ET 0 0 0 1 K 0.5 w 4 M q 1 0 0 1 403.8741 130.094 cm 0 0 m 19.843 0 l S Q 0.609 0 1 0 K 10 M 2 j [3 2]0 d q 1 0 0 1 403.5909 121.094 cm 0 0 m 20.409 0 l S Q 0 0.957 0.941 0 K []0 d q 1 0 0 1 403.8741 112.094 cm 0 0 m 16.51 0 l S Q 0 0.957 0.941 0 k q 1 0 0 1 421.8009 112.7088 cm 0 0 m -0.992 0.3 -1.637 0.576 -2.433 0.895 c -2.433 -2.131 l -2.147 -1.996 -0.992 -1.536 0 -1.236 c 1.062 -0.916 2.024 -0.696 2.649 -0.618 c 2.024 -0.54 1.062 -0.32 0 0 c f Q 0.813 0.602 0 0 K 0.7 w 1 j 1 J q 1 0 0 1 403.8741 103.094 cm 0 0 m 16.51 0 l S Q 0.813 0.602 0 0 k q 1 0 0 1 421.7067 103.6678 cm 0 0 m -0.926 0.28 -1.528 0.538 -2.271 0.835 c -2.271 -1.989 l -2.005 -1.863 -0.926 -1.434 0 -1.154 c 0.991 -0.854 1.889 -0.65 2.472 -0.577 c 1.889 -0.504 0.991 -0.299 0 0 c f Q EMC Q BT /GS0 gs /T1_1 1 Tf 8 0 0 8 371.8496 77.9343 Tm [(Fig)15(.)30( 1)]TJ /T1_3 1 Tf 2.344 0.018 Td [( Model f)19.1(ollo)19(wing f)19(or)19(ce contr)19.1(ol)]TJ ET endstreamendobj27 0 obj<>endobj212 0 obj<>stream application/pdf D-Fig01 Adobe Illustrator CS3 2013-01-28T09:44:43+10:00 2013-01-28T09:44:44+09:00 2013-01-28T09:44:44+09:00 uuid:7C296020E368E211AA4DA6D398F3F578 uuid:8d9663b9-aaa0-40bc-88a4-41cabef7d03d 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T)-24.8(h)-4(e v)2.4(a)-12(l)-12.9(i)7(d)-22.6(i)7.7(t)-31.7(y o)18.2(f )]TJ 0 Tw 0 -1.158 TD [(t)-17.7(h)-4(e)-9.6(s)-7.4(e m)-1.6(e)-5.1(t)-17.7(h)-1.1(o)-9.6(d)-19.7(s h)-14.4(a)-15.3(s b)-11.7(e)-12.2(e)-11.5(n c)-8.6(o)-3.5(n)-21.1(f)-44.5(i)-23.6(r)-42.6(m)-1.6(e)-10.1(d b)8.1(y e)5.2(x)-9.6(p)-12.7(e)-11.5(r)-32.1(i)-23.5(m)-1.6(e)-11.5(n)2.6(t)-16.3(s i)-23.5(n)11(v)20.1(o)12.9(l)8.2(v)-19.6(i)-23.5(n)-0.9(g a)-11.5(c)-9.2(t)-33.1(u)-23(a)-12(l p)-10.8(o)12.9(l)-12.9(i)-4.3(s)-1.5(h)-23.9(i)-23.5(n)-1(g a)-22.6(n)-1.1(d c)2.4(h)-14.4(a)-22.5(m)-21.5(f)8.6(e)-11.5(r)-32.1(i)-23.5(n)-1(g)9.3(.)]TJ /T1_0 1 Tf -0.007 Tc 0.686 Tw 12 0 0 12 39.685 436.4041 Tm [(1)18.1(.)]TJ /Span<>> BDC 0.725 0 Td ( )Tj EMC [(I)-13.9(n)10.6(t)-21.4(ro)-6.5(d)8.6(u)5.3(c)-10.4(t)-27.4(io)7.8(n)]TJ /T1_1 1 Tf 0.051 Tc 0.125 Tw 9.8 0 0 10 39.685 418.303 Tm [(The Japanese manuf)-10(acturing industr)-20(y is f)-10(acing such)51( )]TJ 0.066 Tc 0 -1.191 TD [(prob)20.2(lems as )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 99.2055 406.3912 Tm <1B05>Tj /T1_1 1 Tf 0.066 Tc 0.125 Tw 9.8 0 0 10 110.3751 406.3912 Tm [( tough price competition caused b)25.3(y)66( )]TJ 0.04 Tc -0.04 Tw -7.213 -1.21 Td (globalization, )Tj /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 102.9034 394.2901 Tm <1B06>Tj /T1_1 1 Tf 0.04 Tc 0.125 Tw 9.8 0 0 10 113.8485 394.2901 Tm [( a shift to high-mix v)24.8(ariab)19.8(le-v)19.7(olume)39.9( )]TJ 0.013 Tc -7.568 -1.229 Td [(production systems w)20(hich can respond to di)25(v)14.9(ersif)-60.1(ication)13( )]TJ 0.029 Tc T* [(and rapid changes in mark)10.4(et needs, and )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 215.8768 370.0879 Tm <1B07>Tj /T1_1 1 Tf 0.029 Tc 0.125 Tw 9.8 0 0 10 226.7197 370.0879 Tm [( a decrease)29( )]TJ 0.024 Tc -19.085 -1.229 Td [(of skilled w)40.1(ork)10.1(ers caused b)25.2(y an unbalanced population)24( )]TJ 0.046 Tc 0 -1.21 TD [(distrib)-5.1(ution in Japan. One approach to solving these)46.1( )]TJ 0.009 Tc T* [(prob)19.9(lems is a more adv)25(anced le)25(v)15(el of automation, w)20(hich)9( )]TJ 0.004 Tc -0.004 Tw 0 -1.191 TD [(e)0.5(n)0.5(a)0.5(b)20.5(l)0.5(e)0.5(s)0.5( )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 72.8287 321.6835 Tm <1B05>Tj /T1_1 1 Tf 0.004 Tc 0.125 Tw 9.8 0 0 10 83.4497 321.6835 Tm [( )0.5(c)0.5(o)0.5(s)0.5(t)0.5( )0.5(r)0.5(e)0.5(d)0.5(u)0.5(c)0.5(ti)0.5(o)0.5(n)0.5(,)0.5( )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 150.3107 321.6835 Tm <1B06>Tj /T1_1 1 Tf 0.004 Tc 0.125 Tw 9.8 0 0 10 160.9317 321.6835 Tm [( )0.5(s)0.5(t)0.5(r)0.5(e)0.5(a)0.5(m)0.5(l)0.5(i)0.5(n)0.5(in)0.5(g)0.5( )0.5(o)0.5(f)0.5( )0.5(p)0.5(r)0.5(o)0.5(d)0.5(u)0.5(c)0.5(t)0.5(i)0.5(on)0.5(,)4( )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 39.685 309.5824 Tm <1B07>Tj /T1_1 1 Tf 0.019 Tc 0.125 Tw 9.8 0 0 10 50.4465 309.5824 Tm [( stab)19.6(le quality)84.5(, )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 116.2195 309.5824 Tm <1B08>Tj /T1_1 1 Tf 0.02 Tc 0.124 Tw 9.8 0 0 10 126.981 309.5824 Tm [( e)0.6(n)0.6(h)0.6(a)0.5(n)0.6(c)0.6(e)0.5(d)0.6( p)0.5(r)0.6(o)0.5(d)0.6(u)0.6(c)0.5(t)0.6( t)0.6(r)0.6(a)0.5(c)0.6(e)0.6(a)0.6(b)0.5(i)0.6(l)0.5(i)0.6(t)0.6(y)85.5(,)0.6( a)0.6(n)0.6(d)20( )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 39.685 297.4813 Tm <1B09>Tj /T1_1 1 Tf 0.02 Tc 0.125 Tw 9.8 0 0 10 50.4518 297.4813 Tm [( quantif)-60(ication of manuf)-10(acturing kno)39.9(w-ho)40(w)90(. In man)25(y)20( )]TJ 0.05 Tc -1.099 -1.229 Td [(p)0.5(r)0.6(o)0.5(c)0.6(e)0.6(s)0.5(s)0.5(e)0.6(s)0.6( )0.5(o)0.5(f)0.6( )0.5(p)0.6(a)0.5(r)-19.4(t)0.5(s)0.6( )0.5(p)0.6(r)0.5(o)0.6(c)0.5(e)0.6(s)0.5(s)0.6(i)0.5(n)0.6(g)0.5(,)0.5( )0.6(e)0.5(s)0.6(p)0.5(e)0.6(c)0.5(i)0.6(a)0.5(l)0.6(l)25.5(y)0.6( )0.5(i)0.5(n)0.6( )0.5(s)0.6(m)0.5(a)0.6(l)0.5(l)0.6(-)0.5(t)0.5(o)50( )]TJ 0.006 Tc 0 -1.21 TD [(medium-v)20.3(olume production, automation has already been)6( )]TJ 0 Tc 0.046 Tw T* [(promoted b)25(y the introduction of machining centers and NC )]TJ 0 Tw T* (processing machines, etc.)Tj 0.05 Tw 0.578 -1.21 Td [(On )0.5(the other )0.5(hand)60(, )0.5(in assemb)19.9(ling )0.5(and f)-59.9(inishing processes, )]TJ 0.041 Tc 0.125 Tw -0.578 -1.21 Td [(a)0.5(ut)0.5(o)0.5(ma)0.5(t)0.5(io)0.5(n )0.5(h)0.5(as)0.5( )0.5(no)0.5(t)0.5( b)0.5(e)0.5(en)0.5( )0.5(sy)0.5(s)0.5(te)0.5(m)0.5(a)0.5(ti)0.5(c)0.5(al)0.5(l)25.5(y )0.5(pr)0.5(o)0.5(m)0.5(ot)0.5(e)0.5(d )0.5(y)20.4(e)0.5(t)41( )]TJ 0.028 Tc T* [(because these processes are par)-20.1(tl)24.9(y based on skills that)28( )]TJ 0.027 Tc T* [(are dependent on indi)24.7(vidual senses of w)39.6(ork)9.7(ers and are)27( )]TJ 0 Tc 0.036 Tw T* [(dif)25(f)-60(icult to quantify)85(. In addition, no machine e)15(xists that can )]TJ 0.035 Tw T* [(reproduce such skillful w)40(ork e)15(xcept for some tasks that can )]TJ 0 Tw 0 -1.21 TD [(be automated b)25(y de)25(v)15(eloping specialized equipment.)]TJ 0.022 Tw 0.578 -1.21 Td (As a solution to automate these skill-dependent processes, )Tj 0.034 Tc 0.125 Tw -0.578 -1.21 Td [(w)35.4(e)0.5( ha)35.4(v)15.5(e be)0.5(en )0.5(de)25.4(v)15.4(e)0.5(lopi)0.5(ng in)0.5(tel)0.5(lige)0.5(nt r)0.5(obot )0.5(tec)0.5(hnol)0.5(o)25.4(gy)85.4(,)34( )]TJ 0.07 Tc 0 -1.21 TD [(w)20.2(hich means adding feedback from en)40.2(vironmental)70( )]TJ 0.009 Tc T* [(m)0.5(e)0.5(a)0.5(s)0.5(u)0.5(r)0.5(e)0.5(m)0.5(e)0.5(n)0.5(t)0.5(s)0.5( )0.5(t)0.5(a)0.5(k)10.5(e)0.5(n)0.5( )0.5(b)25.5(y)0.5( f)0.5(o)0.5(r)0.6(c)0.5(e)0.5( )0.5(s)0.5(e)0.5(n)0.5(s)0.5(o)0.5(r)0.5(s,)0.6( i)0.5(m)0.5(a)0.5(g)0.5(e)0.5( )0.5(s)0.5(e)0.5(n)0.5(s)0.5(o)0.5(r)0.5(s)0.5( )0.5(a)0.5(n)0.5(d)9( )]TJ 0.013 Tc T* [(the lik)10.4(e to a con)40.4(v)15.4(entional robot ar)-19.6(m. Since con)40.4(v)15.4(enti)0.5(onal)13( )]TJ 0.005 Tc T* [(teaching-pla)34.6(yback robot ar)-20.4(ms ha)34.5(v)14.6(e no such feedback and)5( )]TJ 0.007 Tc T* [(just repeat the same motions re)14.9(g)4.9(ardless of en)39.9(vironmental)7( )]TJ 0.039 Tc 26.611 36.303 Td [(changes or v)25.2(ariations, the)15.2(y can onl)25.2(y automate simple)39.1( )]TJ 0.019 Tc T* [(processes such as w)34.7(elding, spra)34.6(ying and pick-and-place)19( )]TJ 0 Tc 0.024 Tw T* [(tasks. )55.3(Adding sensor feedback to the robot ma)35(y seem rather )]TJ 0.017 Tc 0.125 Tw T* [(insignif)-60.1(icant w)19.8(hen compared to human intelligence, b)-5.1(ut)17( )]TJ 0.001 Tc T* [(it enab)19.6(les the robot to f)-60.4(ind objects and assemb)19.6(le par)-20.4(ts b)24.6(y)1( )]TJ 0.008 Tc T* [(adjusting the contact force. Using these technolo)25(gies, w)35(e)8( )]TJ 0.023 Tc T* [(ha)35.2(v)15.1(e already de)25.1(v)15.1(eloped some intelligent robot systems,)23( )]TJ 0 Tc 0.007 Tw T* [(including the assemb)20(l)25(y robot system used in cell production )]TJ 0 Tw T* [(for automoti)25(v)15(e turbochar)18(gers.)]TJ /Span<>> BDC ( )Tj EMC 6.37 0 0 6.5 419.11 349.1964 Tm (\(1\)-\(3\))Tj 0.027 Tc 0.125 Tw 9.8 0 0 10 306.1417 333.5952 Tm [(This paper introduces the technolo)24.5(gies and system)]TJ /Span<>> BDC ( )Tj EMC -0.027 Tw 6.37 0 0 6.5 527.9711 337.0952 Tm (\(4\))Tj 0 Tc 0 Tw 9.8 0 0 10 535.748 333.5952 Tm ( )Tj 0.103 Tw -24.008 -1.21 Td [(w)35(e de)25(v)15(eloped for automating the par)-20(ts f)-60(inishing w)40(ork that )]TJ 0.002 Tc 0.125 Tw T* [(relies hea)35.1(vil)25.1(y on manual skilled labor)40.1(, as is the case with)2( )]TJ 0.01 Tc T* [(assemb)20.2(l)25.2(y w)40.2(ork. In par)-19.7(ticular)40.2(, it describes the automation)10( )]TJ 0.032 Tc T* [(of edge chamfering of par)-20.4(ts with comple)14.6(x shapes and)32( )]TJ 0 Tc 0.018 Tw T* [(polishing of the cur)-20(v)15(ed surf)-10(aces of precision par)-20(ts, w)20(hich is )]TJ 0 Tw T* [(dif)25(f)-60(icult to process with the usual processing machines.)]TJ /T1_0 1 Tf 12 0 0 12 300.4724 242.7864 Tm [(2)-12.4(.)]TJ /Span<>> BDC ( )Tj EMC 1.654 0 Td [(F)-10.9(i)-10.4(n)-13.4(i)-1.9(s)11.6(h)-13.4(i)-10.4(n)4.1(g p)14.6(r)6.6(oc)3.1(e)-4.9(s)-1.9(s)1.6(e)-5(s an)12.1(d t)7.1(h)9.6(e)0.6(i)-12.9(r a)18.1(u)12.1(t)2.1(o)14.8(m)4.6(a)13.7(t)-20.4(i)6.8(o)14.8(n)]TJ /T1_1 1 Tf 0.012 Tc 0.125 Tw 9.8 0 0 10 300.4724 224.6853 Tm [(F)19.6(inishing processes is a general ter)-20.3(m for processes such)12( )]TJ 0.055 Tc -0.055 Tw 0 -1.191 TD (as )Tj /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 313.9174 212.7736 Tm <1B05>Tj /T1_1 1 Tf 0.055 Tc 0.125 Tw 9.8 0 0 10 324.9895 212.7736 Tm [( deb)-4.6(ur)-29.6(ring, )]TJ /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 379.6618 212.7736 Tm <1B06>Tj /T1_1 1 Tf 0.055 Tc 0.125 Tw 9.8 0 0 10 390.7339 212.7736 Tm ( chamfering edges, )Tj /C2_0 1 Tf 0 Tc 0 Tw 8.82 0 0 9 481.3283 212.7736 Tm <1B07>Tj /T1_1 1 Tf 0.055 Tc 0.125 Tw 9.8 0 0 10 492.4004 212.7736 Tm [( rounding)55( )]TJ 0 Tc -19.584 -1.21 Td (edges, and )Tj /C2_0 1 Tf 0 Tw 8.82 0 0 9 346.7844 200.6725 Tm <1B08>Tj /T1_1 1 Tf 0.125 Tw 9.8 0 0 10 357.3782 200.6725 Tm [( polishing surf)-10.5(aces. )49.6(The)14.6(y are perfor)-20.4(med not )]TJ 0.123 Tw -5.807 -1.229 Td [(onl)25(y as a f)-59.9(inal process of producing par)-20(ts b)-4.9(ut also during )]TJ 0 Tw 0 -1.21 TD [(inter)-20(mediate processes.)]TJ 0.01 Tw 0.578 -1.21 Td [(A typical piece of equipment for f)-60(inishing par)-20(ts is a bar)-30(rel )]TJ 0.02 Tc 0.125 Tw -0.578 -1.21 Td [(f)-59.5(i)0.6(n)0.6(i)0.5(s)0.6(h)0.5(i)0.6(n)0.5(g)0.6( )0.5(m)0.6(a)0.5(c)0.6(h)0.5(i)0.6(n)0.5(e)0.6(.)0.6( )0.5(P)15.6(a)0.5(r)-19.4(t)0.6(s)0.5( )0.6(a)0.5(n)0.6(d)0.5( )0.6(a)0.5(b)0.6(r)0.5(a)0.6(s)0.6(i)25.5(v)15.5(e)0.6(s)0.6( )0.5(a)0.6(r)0.6(e)0.5( )0.6(p)0.5(l)0.6(a)0.5(c)0.6(e)0.6(d)0.5( )0.6(i)0.5(n)0.6( )0.5(i)0.6(t)0.5(s)20( )]TJ 0 Tc 0.056 Tw 0 -1.191 TD [(bar)-30(rel and it perfor)-20(ms the processing sho)40(wn from )]TJ /C2_0 1 Tf 0 Tw 8.82 0 0 9 500.9406 140.1669 Tm <1B05>Tj /T1_1 1 Tf 0.056 Tw 9.8 0 0 10 511.5306 140.1669 Tm ( to )Tj /C2_0 1 Tf 0 Tw 8.82 0 0 9 525.158 140.1669 Tm <1B080003>Tj /T1_1 1 Tf 0.011 Tc 0.125 Tw 9.8 0 0 10 300.4724 127.8765 Tm [(b)24.7(y rotating or vibrating. 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