Robotic sanding system for new designed furniture with free-formed surface

Fusaomi Nagata, Yukihiro Kusumoto, Yoshihiro Fujimoto, Keigo Watanabe

Research output: Contribution to journalArticlepeer-review

77 Citations (Scopus)


In this paper, a sanding system based on an industrial robot with a surface following controller is proposed for the sanding process of wooden materials constructing furniture. Handy air-driven tools can be easily attached to the tip of the robot arm via a compact force sensor. The robotic sanding system is called the 3D robot sander. The robot sander has two novel features. One is that the polishing force acting between the tool and wooden workpiece is delicately controlled to track a desired value, e.g., 2 kgf. The polishing force is defined as the resultant force of the contact force and kinetic friction force. The other is that no complicated teaching operation is required to obtain a desired trajectory of the tool. Cutter location (CL) data, which are tool paths generated by a CAD/CAM system, are directly used for the basic trajectory of the handy tool attached to the robot arm. The robot sander can be applied to the sanding task of free-formed curved surface with which conventional sanding machines have not been able to cope. The effectiveness and promise are shown and discussed through a few experiments.

Original languageEnglish
Pages (from-to)371-379
Number of pages9
JournalRobotics and Computer-Integrated Manufacturing
Issue number4
Publication statusPublished - Aug 2007
Externally publishedYes


  • Cutter location data
  • Non-taught operation
  • Polishing force
  • Robotic sanding
  • Surface following control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


Dive into the research topics of 'Robotic sanding system for new designed furniture with free-formed surface'. Together they form a unique fingerprint.

Cite this