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 journalArticle

2 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 languageEnglish
Pages (from-to)178-184
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume71
Issue number1
DOIs
Publication statusPublished - Jan 2005
Externally publishedYes

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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