An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot)

Fusaomi Nagata; Keigo Watanabe; Yukihiro Kusumoto; Kiminori Yasuda; Kunihiro Tsuda; Osamu Tsukamoto; Masaaki Omoto; Zenku Haga; Tetsuo Hase

doi:10.1299/kikaic.71.178

An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot)

Fusaomi Nagata, Keigo Watanabe, Yukihiro Kusumoto, Kiminori Yasuda, Kunihiro Tsuda, Osamu Tsukamoto, Masaaki Omoto, Zenku Haga, Tetsuo Hase

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

Abstract

Cutter location (CL) data with normal vectors can be used for not only a desired trajectory of tool's translational motion but also desired force directions for a mold polishing robot. In this paper, such normalized tool vectors are systematically generated from 3-axis CL data. The resultant CL data allow the polishing robot with an abrasive tool to realize a teaching-less operation of position and force. The present robot can also control the polishing force consisting of the contact and kinetic friction forces. During the polishing of a mold, a position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that a stable force control and an accurate pick feed control can be simultaneously achieved. The effectiveness and validity of the proposed robot have been proved by actual polishing experiments using a duralumin mold with curved surface.

Original language	English
Pages (from-to)	178-184
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	71
Issue number	1
DOIs	https://doi.org/10.1299/kikaic.71.178
Publication status	Published - Jan 2005
Externally published	Yes

Keywords

Ball End Abrasive Tool
Cutter Location Data
Flexible Manufacturing System
Hybrid Position/Force Control
Industrial Robot
Mechatronics and Robotics
PET Bottle Mold

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.71.178

Cite this

Nagata, F., Watanabe, K., Kusumoto, Y., Yasuda, K., Tsuda, K., Tsukamoto, O., Omoto, M., Haga, Z., & Hase, T. (2005). An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot). Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 71(1), 178-184. https://doi.org/10.1299/kikaic.71.178

An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot). / Nagata, Fusaomi; Watanabe, Keigo; Kusumoto, Yukihiro et al.

In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 71, No. 1, 01.2005, p. 178-184.

Research output: Contribution to journal › Article › peer-review

Nagata, F, Watanabe, K, Kusumoto, Y, Yasuda, K, Tsuda, K, Tsukamoto, O, Omoto, M, Haga, Z & Hase, T 2005, 'An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot)', Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 71, no. 1, pp. 178-184. https://doi.org/10.1299/kikaic.71.178

Nagata F, Watanabe K, Kusumoto Y, Yasuda K, Tsuda K, Tsukamoto O et al. An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot). Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 2005 Jan;71(1):178-184. doi: 10.1299/kikaic.71.178

Nagata, Fusaomi ; Watanabe, Keigo ; Kusumoto, Yukihiro et al. / An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot). In: Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 2005 ; Vol. 71, No. 1. pp. 178-184.

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abstract = "Cutter location (CL) data with normal vectors can be used for not only a desired trajectory of tool's translational motion but also desired force directions for a mold polishing robot. In this paper, such normalized tool vectors are systematically generated from 3-axis CL data. The resultant CL data allow the polishing robot with an abrasive tool to realize a teaching-less operation of position and force. The present robot can also control the polishing force consisting of the contact and kinetic friction forces. During the polishing of a mold, a position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that a stable force control and an accurate pick feed control can be simultaneously achieved. The effectiveness and validity of the proposed robot have been proved by actual polishing experiments using a duralumin mold with curved surface.",

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An open-architecture-based hybrid control method with a weak coupling between position feedback-loop and force feedback-loop (application to a mold polishing robot)

Abstract

Keywords

ASJC Scopus subject areas

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