TY - GEN
T1 - Development of a force controlled robot for grinding, chamfering and polishing
AU - Jinno, M.
AU - Ozaki, F.
AU - Yoshimi, T.
AU - Tatsuno, K.
AU - Takahashi, M.
AU - Kanda, M.
AU - Tamada, Y.
AU - Nagataki, S.
PY - 1995/1/1
Y1 - 1995/1/1
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBOT.1995.525481
DO - 10.1109/ROBOT.1995.525481
M3 - Conference contribution
AN - SCOPUS:0029195363
SN - 0780319656
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1455
EP - 1460
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
Y2 - 21 May 1995 through 27 May 1995
ER -