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

Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE
Volume4
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: Oct 12 1999Oct 15 1999

Other

Other1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'
CityTokyo, Jpn
Period10/12/9910/15/99

Fingerprint

Manipulators
Trajectories
Experiments
Force control
Position control
Computer aided manufacturing
Machine tools
Computer aided design
Teaching
Information systems
Robots

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Nagata, F., Watanabe, K., & Izumi, K. (1999). Experiment on profiling task with impedance controlled manipulator using cutter location data. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 4). IEEE.

Experiment on profiling task with impedance controlled manipulator using cutter location data. / Nagata, Fusaomi; Watanabe, Keigo; Izumi, Kiyotaka.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4 IEEE, 1999.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagata, F, Watanabe, K & Izumi, K 1999, Experiment on profiling task with impedance controlled manipulator using cutter location data. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 4, IEEE, 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics', Tokyo, Jpn, 10/12/99.
Nagata F, Watanabe K, Izumi K. Experiment on profiling task with impedance controlled manipulator using cutter location data. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4. IEEE. 1999
Nagata, Fusaomi ; Watanabe, Keigo ; Izumi, Kiyotaka. / Experiment on profiling task with impedance controlled manipulator using cutter location data. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 4 IEEE, 1999.
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