Development of a force controlled robot for grinding, chamfering and polishing

M. Jinno, F. Ozaki, Takashi Yoshimi, K. Tatsuno, M. Takahashi, M. Kanda, Y. Tamada, S. Nagataki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

This paper presents a force controlled robot system for grinding, chamfering and polishing in machining plants. To facilitate easy operations, a task-oriented robot language and a force control method for following edges of workpieces have been developed. In the task-oriented robot language, a task is declared first by a task name, a tool code and a tool center point. The tool center point is a position in contact with a workpiece. These indexes and a force control motion command determine the parameters for the force control of the robot. The workpieces for grinding, chamfering, and polishing almost always differ their setting position, their size and/or their shape each by each even when the workpieces are the same parts in a machine. To cope with such workpiece difference, a tool moment control method, a skip function, and a round function have been developed. The experiments chamfering of the edges of a part in an injection molding machine are reported.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages1455-1460
Number of pages6
Volume2
DOIs
Publication statusPublished - 1995
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

Fingerprint

Polishing
Force control
Robots
Injection molding
Machining
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Jinno, M., Ozaki, F., Yoshimi, T., Tatsuno, K., Takahashi, M., Kanda, M., ... Nagataki, S. (1995). Development of a force controlled robot for grinding, chamfering and polishing. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 1455-1460) https://doi.org/10.1109/ROBOT.1995.525481

Development of a force controlled robot for grinding, chamfering and polishing. / Jinno, M.; Ozaki, F.; Yoshimi, Takashi; Tatsuno, K.; Takahashi, M.; Kanda, M.; Tamada, Y.; Nagataki, S.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 1995. p. 1455-1460.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jinno, M, Ozaki, F, Yoshimi, T, Tatsuno, K, Takahashi, M, Kanda, M, Tamada, Y & Nagataki, S 1995, Development of a force controlled robot for grinding, chamfering and polishing. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 1455-1460, Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3), Nagoya, Jpn, 95/5/21. https://doi.org/10.1109/ROBOT.1995.525481
Jinno M, Ozaki F, Yoshimi T, Tatsuno K, Takahashi M, Kanda M et al. Development of a force controlled robot for grinding, chamfering and polishing. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 1995. p. 1455-1460 https://doi.org/10.1109/ROBOT.1995.525481
Jinno, M. ; Ozaki, F. ; Yoshimi, Takashi ; Tatsuno, K. ; Takahashi, M. ; Kanda, M. ; Tamada, Y. ; Nagataki, S. / Development of a force controlled robot for grinding, chamfering and polishing. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 1995. pp. 1455-1460
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