Experiment on profiling task with impedance controlled manipulator using cutter location data

Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalConference article

4 Citations (Scopus)

Abstract

In this paper, we describe on how to easily apply an impedance controlled robot to a profiling task along a curved object and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by the CAD/CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with the multi-axis numerical control (NC) machine tool, the CL data can be used as not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to generate the desired trajectory without teaching and to improve the performance for profiling control. Some control experiments are shown to demonstrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)IV-848 - IV-853
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume4
Publication statusPublished - Dec 1 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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