A desktop NC machine tool with a position/force controller using a fine-velocity pulse converter

Mechatronics

Volumn 19, Issue 5, 2009, Pages 671-679

  Nagata, Fusaomi ^a   Hase, Tetsuo ^b   Haga, Zenku ^b   Omoto, Masaaki ^b   Watanabe, Keigo ^c  

^a TOKYO UNIVERSITY OF SCIENCE   (Japan)

^b Meiho Co Ltd   (Japan)

^c SAGA UNIVERSITY   (Japan)

Author keywords

CL data; Desktop NC machine tool; Fine velocity pulse converter; Force control; Mold finishing; Small curved surface; Weak coupling control

Indexed keywords

COMPLIANCE CONTROL; COMPUTER AIDED DESIGN; CONTROLLERS; DAMPING; FORCE CONTROL; FORCE MEASUREMENT; GRINDING (MACHINING); INDUSTRIAL ROBOTS; MOLDS; PLASTIC LENSES;

CL DATUM; CURVED SURFACES; NC MACHINE TOOLS; VELOCITY PULSE; WEAK COUPLINGS;

MACHINE TOOLS;

EID: 67349256370     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2009.02.004     Document Type: Article

References (29)

1. Nagata F, Watanabe K, Izumi K. Furniture polishing robot using a trajectory generator based on cutter location data. In: Proceedings of the IEEE international conference on robotics and automation; 2001. p. 319-24.
2. Nagata F, Watanabe K, Fujimoto Y, Kiguchi K, Murase Y. 3D machining and finishing system for new designed furniture. In: Proceedings the 2002 Japan-USA symposium on flexible automation; 2002. p. 1239-45.
3. Takeuchi Y, Ge D, Asakawa N. Automated polishing process with a human-like dexterous robot. In: Proceedings of the IEEE international conference on robotics and automation; 1993. p. 950-6.
4. Ozaki F., Jinno M., Yoshimi T., Tatsuno K., Takahashi M., Kanda M., et al. A force controlled finishing robot system with a task-directed robot language. J Robot Mech 7 5 (1995) 383-388
5. Pfeiffer F., Bremer H., and Figueiredo J. Surface polishing with flexible link manipulators. Eur J Mech A: Solid 15 1 (1996) 137-153
6. Pagilla P.R., and Yu B. Robotic surface finishing processes: modeling, control, and experiments. Trans ASME J Dynam Syst Measure Contr 123 (2001) 93-102
7. Huang H., Zhou L., Chen X.Q., and Gong Z.M. SMART robotic system for 3D profile turbine vane airfoil repair. Int J Adv Manuf Technol 21 4 (2003) 275-283
8. Basanez L., and Rosell J. Robotic polishing systems. IEEE Robot Automat Mag 12 3 (2005) 35-43
9. Tsai M.J., Chang J.L., and Haung J.F. Development of an automatic mold polishing system. IEEE Trans Automat Sci Eng 2 4 (2005) 393-397
10. Stephien T.M., Sweet L.M., Good M.C., and Tomizuka M. Control of tool/workpiece contact force with application to robotic deburring. IEEE J Robot Automat 3 1 (1987) 7-18
11. Kazerooni H. Robotic deburring of two-dimensional parts with unknown geometry. J Manuf Syst 7 4 (1988) 329-338
12. Whitney D.E., Edsall A.C., Todtenkopf A.B., Kurfess T.R., and Tate A.R. Development and control of an automated robotic weld bead grinding system. Trans ASME J Dynam Syst Measure Contr 112 (1990) 166-176
13. Her M.G., and Kazerooni H. Automated robotic deburring of parts using compliance control. Trans ASME J Dynam Syst Measure Contr 113 (1991) 60-66
14. Bone G.M., Elbestawi M.A., Lingarkar R., and Liu L. Force control of robotic deburring. Trans ASME J Dynam Syst Measure Contr 113 (1991) 395-400
15. Gorinevsky D.M., Formalsky A.M., and Schneider A.Y.U. Force control of robotics systems (1997), CRC Press, New York
16. Hsu F.Y., and Fu L.C. Intelligent robot deburring using adaptive fuzzy hybrid position/force control. IEEE Trans Robot Automat 16 4 (2000) 325-335
17. Raibert M.H., and Craig J.J. Hybrid position/force control of manipulators. Trans ASME J Dynam Syst Measure Contr 102 (1981) 126-133
18. Hogan N. Impedance control: an approach to manipulation. Trans ASME J Dynam Syst Measure Contr 107 (1985) 1-24
19. An CH, Hollerbach JM. Dynamic stability issues in force control of manipulators. In: Proceedings of the IEEE international conference on robotics and automation; 1987. p. 890-6.
20. An C.H., Atkeson C.G., and Hollerbach J.M. Model-based control of a robot manipulator (1988), MIT Press
21. John J., and Craig J.J. Introduction to ROBOTICS-mechanics and control. 2nd ed. (1989), Addison Wesley Publishing Co., Reading, MA
22. Nagata F., Watanabe K., Sato K., and Izumi K. Impedance control using anisotropic fuzzy environment models. J Robot Mech 11 1 (1999) 60-66
23. Nagata F., Kusumoto Y., Fujimoto Y., and Watanabe K. Robotic sanding system for new designed furniture with free-formed surface. Robot Comput Integr Manuf 23 4 (2007) 371-379
24. Nagata F., Hase T., Haga Z., Omoto M., and Watanabe K. CAD/CAM-based position/force controller for a mold polishing robot. Mechatronics 17 4-5 (2007) 207-216
25. Nagata F, Watanabe K, Sato K, Izumi K, Suehiro T. Impedance control for articulated robots of 6 degree-of-freedom in consideration of critically damped condition with an object dynamics. In: Proceedings of the 36th SICE annual conference, international sessions; 1997. p. 1119-24.
26. Lee MC, Go SJ, Jung JY, Lee MH. Development of a user-friendly polishing robot system. In: Proceedings of the IEEE international conference on intelligent robots and systems; 1999. p. 1914-19.
27. Lee M.C., Go S.J., Lee M.H., Jun C.S., Kim D.S., Cha K.D., et al. A robust trajectory tracking control of a polishing robot system based on CAM data. Robot Comput Integr Manuf 17 1-2 (2001) 177-183
28. Nagata F., and Watanabe K. Feed rate control using a fuzzy reasoning for a mold polishing robot. J Robot Mech 18 1 (2006) 76-82
29. Nagata F, Kusumoto Y, Hasebe K, Saito K, Fukumoto K, Watanabe K. Post-processor using a fuzzy feed rate generator for multi-axis NC machine tools with a rotary unit. In: Proceedings of the international conference on control, automation and systems; 2005. p. 438-43.