Patent ID: 8229594

Claim:
A method of controlling an automatic finishing machine adapted for providing a finishing process to a work by using a robot provided with a tool, comprising: a model storage step of storing a shape data of a three-dimensional model for expressing a shape of a work to be unfinished, or storing a teaching data indicative of a position of the tool corresponding to the shape data; a data acquisition step of bringing the tool into contact with a given portion of the work so as to obtain a measurement data indicative of a contact position between the tool and the work; a calculation on a processor, the step of calculating, based on the measurement data, an actual-position data indicative of a position of a comparative object point; an error derivation step of obtaining a data difference between the actual-position data of the comparative object point and a model-position data indicative of a position of the comparative object point in the three-dimensional model; a correction step of correcting, based on the data difference, the teaching data indicative of the position of the tool corresponding to the shape data of the three-dimensional model so as to obtain a corrected teaching data; and a machining step of performing the finishing process while controlling the robot based on the corrected teaching data, wherein the given portion of the work in the data acquisition step includes three faces crossing each other, and wherein the calculation step calculates an intersection point of the three faces crossing each other as the actual-position data.