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

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

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

28 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
DOIs
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

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

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

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 (pp. 1455-1460). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). https://doi.org/10.1109/ROBOT.1995.525481