TY - GEN
T1 - Orthogonal-type robot with a CAD/CAM-based position/force controller
AU - Nagata, Fusaomi
AU - Tani, Shintaro
AU - Mizobuchi, Takanori
AU - Hase, Tetsuo
AU - Haga, Zenku
AU - Omoto, Masaaki
AU - Watanabe, Keigo
PY - 2009
Y1 - 2009
N2 - In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 μm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.
AB - In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 μm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.
UR - https://www.scopus.com/pages/publications/69549096426
UR - https://www.scopus.com/pages/publications/69549096426#tab=citedBy
U2 - 10.1109/CICA.2009.4982775
DO - 10.1109/CICA.2009.4982775
M3 - Conference contribution
AN - SCOPUS:69549096426
SN - 9781424427529
T3 - 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings
SP - 1
EP - 6
BT - 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings
PB - IEEE Computer Society
T2 - 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009, Part of the 2009 IEEE Symposium Series on Computational Intelligence, SSCI 2009
Y2 - 30 March 2009 through 2 April 2009
ER -