Generation of normalized tool vector from 3-axis CL data and its application to a mold polishing robot

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Volumn 4, Issue , 2004, Pages 3971-3976

  Nagata, Fusaomi ^a   Watanabe, Keigo ^b   Kusumoto, Yukihiro ^a   Yasuda, Kiminori ^c   Tsukamoto, Osamu ^c   Tsuda, Kunihiro ^c   Omoto, Masaaki ^d   Haga, Zenko ^d   Hase, Tetsuo ^d  

^a FUKUOKA INDUSTRIAL TECHNOLOGY CENTER   (Japan)

^b SAGA UNIVERSITY   (Japan)

^c ASA Systems Inc   (Japan)

^d Meiho Co Ltd   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTER AIDED DESIGN; COMPUTER AIDED MANUFACTURING; FEEDBACK; FORCE CONTROL; FRICTION; GRAIN SIZE AND SHAPE; MOLDS; POLISHING;

CARTESIAN SPACE; CUTTER LOCATION (CL) DATA; KINETIC FRICTION FORCES; TRAJECTORY;

ROBOTS;

EID: 14044249513     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (7)

1. F. Nagata, K. Watanabe, Y. Fujimoto, et al., "3D Machining and Finishing System for New Designed Furniture," Procs. of the 2002 Japan-USA Symposium on Flexible Automation, pp. 1239-1245, 2002.
2. F. Ozaki, M. Jinno, T. Yoshimi, et al., "A Force Controlled Finishing Robot System with a Task-Directed Robot Language," Journal of Robotics and Mechatronics, vol. 7, no. 5, pp. 383-388, 1995.
3. |3] D. M. Gorinevsky, A. M. Formalsky and A. YU. Schneider, "Force Control of Robotics Systems," CRC Press, 1997.
4. F. Nagata, K. Watanabe, Y. Kusumoto, et al., "High Precision Polishing Robot Using a Learning-Based Surface Following Controller," Procs. of 2003 IEEE Int. Symp. on Computational Intelligence in Robotics and Automation (CIRA2003), pp. 91-96, 2003.
5. F. Nagata, Y. Kusumoto, K. Watanabe, et al., "Development of a Hybrid Motion/Force Control Strategy for Ball End Abrasive Tools and Its Application to Polishing Robots for PET Bottle Molds," Journal of the Japan Society for Precision Engineering, vol. 70, no. 1, pp. 59-64, 2004 (in Japanese).
6. F. Nagata, K. Watanabe and K. Izumi, "Furniture Polishing Robot Using a Trajectory Generator Based on Cutter Location Data," Procs. of 2001 IEEE International Conference on Robotics and Automation (ICRA2003), pp. 319-324, 2001.
7. John J, Craig, "Introduction to ROBOTICS -Mechanics and Control Second Edition-," Addison Wesley Publishing Co., 1989.