Application of open architectural industrial robots and its simulation technique

Fusaomi Nagata, Keigo Watanabe, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Kunihiro Tsuda, Osamu Tsukamoto, Masaki Komino, Yukihiro Kusumoto

Research output: Chapter in Book/Report/Conference proceedingChapter


In this article, a position/force control system is first designed for industrial robots with an open architecture controller. Position and orientation of the tool attached to the tip of an industrial robot are controlled based on the model designed by a CAD system. Also, force including kinetic friction is controlled through a desired impedance model. The both manipulated variables generated from the position control system and force control system are velocity quantity in Cartesian-coordinate system, so that the hybrid control system can be easily applied to industrial robots with an open architecture controller. Next, we introduce two examples of applications being utilized in actual manufacturing process. One is the 3D robot sander which sands the free-formed surface of wooden materials. The finished wooden workpiece with curved surface is used for a part constructing a piece of artistic furniture. The other is the mold polishing robot which finishes aluminum PET bottle blow molds. Further, the application limit of articulated-type industrial robots is quantitatively evaluated through a simple static position/force measurement. Finally, a simulation technique is presented for the discrete-time control system of an open architectural industrial robot by giving an example of a fuzzy force controller.

Original languageEnglish
Title of host publicationComputer Design and Computational Defense Systems
PublisherNova Science Publishers, Inc.
Number of pages40
ISBN (Print)9781611227567
Publication statusPublished - Jan 2011
Externally publishedYes


  • Discrete-time control system
  • Dynamic simulation
  • Industrial robot
  • Open architecture
  • Polishing robot
  • Position/force control
  • Robot sander

ASJC Scopus subject areas

  • General Computer Science


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