---
publication_id: "OT-2026-000001478"
title: "Convex portion grinding system, convex portion grinding method, and method of producing steel product"
published_at: "2026-09-15T19:06:05.610083Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001478"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b24b49/12"
  - "b24b49/12"
  - "b25j11/0065"
  - "b25j11/0065"
  - "b24b19/26"
  - "b24b27/0038"
---

# Convex portion grinding system, convex portion grinding method, and method of producing steel product

## Abstract

A convex portion grinding system including: a shape measuring device ( 3 ) that measures three-dimensional shape and orientation of a target material; a convex portion detection device ( 4 ) that detects a convex portion on a surface of the target material and recognizes position and shape of the convex portion; a grinding device ( 7 ) including a grinding tool that grinds the convex portion; and a grinding tool control device ( 5 ) that calculates a trajectory along which the grinding tool moves based on the measured three-dimensional shape and orientation of the target material and the detected position and shape of the convex portion, and controls the grinding device so that the grinding tool moves along the trajectory while changing the contact angle of the grinding tool with respect to the convex portion.