Profiling control for industrial robots using a position compensator based on cutter location data

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

Volumn 66, Issue 3, 2000, Pages 473-477

  Nagata, Fusaomi ^a   Watanabe, Keigo ^a   Izumi, Kiyotaka ^a  

^a NONE

Author keywords

5 axis NC machine tool; Cutter location data; Feedback control; Feedforward control; Impedance control; Industrial robot; Open architecture controller; Profiling task

Indexed keywords

EID: 0001146041     PISSN: 09120289     EISSN: None     Source Type: Journal    
DOI: 10.2493/jjspe.66.473     Document Type: Article

References (11)

1. Y. Takeuchi, D. Ge and N. Asakawa : Automated Polishing Process with a Human-like Dexterous Robot, Proc. IEEE Int. Conf. Robotics and Automation, (1993) 950.
2. M. H. Raibert and J. J. Craig : Hybrid Position/Force Control of Manipulators, Trans. ASME, J. Dyn. Syst. Meas. Cont., 102, (1981) 126.
3. K. Takahashi, S. Aoyagi and M. Takano : Study on a Fast Profiling Task of a Robot with Force Control Using Feedforward of Predicted Contact Position Data, Proc. 4th Japan-France Congress & 2nd Asia-Europe Congress on Mechatronics, Vol. 1, (1998) 398.