Abstract: An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.

Abstract: The present disclosure relates to a surface inspection method using a mold surface inspection device, and more specifically, to a surface inspection method using a mold surface inspection device including a setting part in which an inspection object is set, a light source part configured to irradiate the inspection object with irradiated light so that a reflective highlight is generated on a surface of the inspection object, an imaging part configured to image the surface of the inspection object so that a highlight region where a reflective highlight is generated is included, and an image processing part configured to process an image imaged in the imaging part to provide the image to a worker so that the worker determines whether defects are generated on the surface of the inspection object on the basis of the image.

Abstract: An embodiment of the present disclosure provides a manipulator for a finishing work, including: a base; an arm comprising a plurality of links, a plurality of joints connecting the plurality of links, and a plurality of actuators generating rotation of at least some of the plurality of joints; and a processor determining a driving torque of each of the plurality of actuators considering a self-weight effect of the manipulator and controlling the plurality of actuators based on the determined driving torque.

Abstract: The present disclosure relates to a surface inspection method using a mold surface inspection device, and more specifically, to a surface inspection method using a mold surface inspection device including a setting part in which an inspection object is set, a light source part configured to irradiate the inspection object with irradiated light so that a reflective highlight is generated on a surface of the inspection object, an imaging part configured to image the surface of the inspection object so that a highlight region where a reflective highlight is generated is included, and an image processing part configured to process an image imaged in the imaging part to provide the image to a worker so that the worker determines whether defects are generated on the surface of the inspection object on the basis of the image.