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

研究成果: Conference contribution

35 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
ページ1455-1460
ページ数6
DOI
出版ステータスPublished - 1995 1月 1
外部発表はい
イベントProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
継続期間: 1995 5月 211995 5月 27

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2
ISSN(印刷版)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

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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