Abstract
An ASEA robot has been modified for the purpose of grinding cast iron. There was the problem that the paths of the robot, which have to be programmed by the time consuming teach-in method, are not adequate for a continuously decreasing grindstone size. It is fairly simple to correct the paths in one direction by an additive correction of all robot coordinates, and this is just the way in which axial adjustments for a flat grindstone are implemented. But for grindstones of a rather small diameter, which are used radially and which show up a rapidly decreasing radius, a twodimensional correction is necessary. The plane of correction is to be defined by the operator teaching in four points for a search process, which has to determine the grindstone diameter automatically. The vector of path correction is to be defined by the operator teaching in suitable points and marks. For circular and partly circular paths only four, respectively three points must be teached in, thereby defining the whole circle and the radial direction of the correction vector.
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