Development of a force controlled finishing robot system and its applications

Shintaro Nagataki, Mikio Takahashi, Masakazu Kanda, Yasuhiko Tamada, Makoto Jinno, Fumio Ozaki, Takashi Yoshimi, Kyoichi Tatsuno

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Citations (Scopus)

Abstract

We have developed a force controlled robot system for finishing tasks such as grinding, chamfering, and polishing tasks in machining plants, having a concept of simple to use. System concept of simple to me is `Simple Operation', `Simple Programming', and `Simple Setup'. A casted or welded workpieces for finishing differ in their size or shape or both. Force controlled robot systems can handle them because they can follow the edges or the surfaces of the workpieces using force control function. Until now, however, force controlled robot systems have been difficult to use because many force control parameters have to be assigned and you should be very careful to teach the robot in contact with the workpiece. To make the robot simple to use, we have developed a task-directed robot language, force controlled guide function and application oriented force control functions. Some application systems are also reported.

Original languageEnglish
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages217-220
Number of pages4
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: 1996 Jul 71996 Jul 10

Publication series

NameProceedings of the Japan/USA Symposium on Flexible Automation
Volume1

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period96/7/796/7/10

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Nagataki, S., Takahashi, M., Kanda, M., Tamada, Y., Jinno, M., Ozaki, F., Yoshimi, T., & Tatsuno, K. (1996). Development of a force controlled finishing robot system and its applications. In K. Stelson, & F. Oba (Eds.), Proceedings of the Japan/USA Symposium on Flexible Automation (pp. 217-220). (Proceedings of the Japan/USA Symposium on Flexible Automation; Vol. 1).