CAD/CAM-based position/force controller for a mold polishing robot

Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Keigo Watanabe

Research output: Contribution to journalArticle

101 Citations (Scopus)

Abstract

Control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for a mold polishing robot. The force feedback loop controls the polishing force consisting of the contact and kinetic friction forces. During the mold polishing, the position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that the abrasive tool does not deviate from the desired trajectory and keeps a constant pick feed, e.g., 0.2 mm. When the robot with the CAD/CAM-based position/force controller runs, cutter location (CL) data with normal vectors, called multi-axis CL data, are used for not only a desired trajectory of tool translational motion but also desired contact directions given to a mold. The multi-axis CL data allow the mold polishing robot to realize a complete non-taught operation of the position and contact direction. The experimental results show that the CAD/CAM-based position/force control method achieves successful robotic mold polishing with curved surface.

Original languageEnglish
Pages (from-to)207-216
Number of pages10
JournalMechatronics
Volume17
Issue number4-5
DOIs
Publication statusPublished - May 2007
Externally publishedYes

Fingerprint

Computer aided manufacturing
Polishing
Computer aided design
Robots
Controllers
Force control
Feedback
Robotics
Trajectories
Position control
Abrasives
Friction
Kinetics

Keywords

  • CAD/CAM
  • Cutter location data
  • Industrial robot
  • Mold polishing robot
  • Non-taught operation
  • Position/force control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

CAD/CAM-based position/force controller for a mold polishing robot. / Nagata, Fusaomi; Hase, Tetsuo; Haga, Zenku; Omoto, Masaaki; Watanabe, Keigo.

In: Mechatronics, Vol. 17, No. 4-5, 05.2007, p. 207-216.

Research output: Contribution to journalArticle

Nagata, Fusaomi ; Hase, Tetsuo ; Haga, Zenku ; Omoto, Masaaki ; Watanabe, Keigo. / CAD/CAM-based position/force controller for a mold polishing robot. In: Mechatronics. 2007 ; Vol. 17, No. 4-5. pp. 207-216.
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