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

Fusaomi Nagata; Keigo Watanabe; Kiyotaka Izumi

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

Fusaomi Nagata, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journal › Conference article › peer-review

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 language	English
Pages (from-to)	IV-848 - IV-853
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	4
Publication status	Published - Dec 1 1999
Externally published	Yes
Event	1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: Oct 12 1999 → Oct 15 1999

ASJC Scopus subject areas

Control and Systems Engineering
Hardware and Architecture

Cite this

@article{41e1feefe00b4acfb2366f97d7997e95,

title = "Experiment on profiling task with impedance controlled manipulator using cutter location data",

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.",

author = "Fusaomi Nagata and Keigo Watanabe and Kiyotaka Izumi",

year = "1999",

month = dec,

day = "1",

language = "English",

volume = "4",

pages = "IV--848 -- IV--853",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' ; Conference date: 12-10-1999 Through 15-10-1999",

}

TY - JOUR

T1 - Experiment on profiling task with impedance controlled manipulator using cutter location data

AU - Nagata, Fusaomi

AU - Watanabe, Keigo

AU - Izumi, Kiyotaka

PY - 1999/12/1

Y1 - 1999/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0033312642&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033312642&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0033312642

SN - 0884-3627

VL - 4

SP - IV-848 - IV-853

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'

Y2 - 12 October 1999 through 15 October 1999

ER -

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

Abstract

ASJC Scopus subject areas

Other files and links

Fingerprint

Cite this