Patent ID: 8914153

Claim:
A head for positioning a tool on irregular surfaces, for performing a robotic tracking of a work tool on irregular surfaces comprising a tool-holder assembly having a support for coupling to a robot arm, said tool-holder assembly being provided with a force sensor and distance detectors, by means of which a control determining the positioning of the work tool with respect to the operating surface is established, wherein the tool-holder assembly has a tool-holder plate which is attached by means of the force sensor with respect to the support for coupling to the robot arm, the tool-holder plate centrally incorporating a ball joint and a distribution of distance detectors arranged around it, a disk-tool being attached to the ball joint, which disk-tool is adapted to the working surface due to the play afforded by the mentioned ball joint, varying the force and position of the thrust thereof on the working surface by means of the robot arm according to the information provided by the force sensor and distance detectors.