Furniture polishing robot using a trajectory generator based on cutter location data

F. Nagata, K. Watanabe, K. Izumi

Research output: Contribution to journalConference article

20 Citations (Scopus)

Abstract

In this article, a furniture polishing robot, which uses a trajectory generator based on cutter location data, is proposed. The position and orientation of the polishing tool is suitably controlled by referring the output from the trajectory generator. The trajectory generator yields a zigzag path, whirl path or their combinational path according to the shape of each workpiece. Using the trajectory generator, the present polishing robot doesn't need the conventional complicated teaching process. The contact force acting between the polishing tool and the workpiece is controlled through a desired impedance model to follow in Cartesian space. The effectiveness and promise of the proposed polishing robot are demonstrated through some experiments concerning polishing tasks using an industrial robot JS-10 with a PC based controller.

Original languageEnglish
Pages (from-to)319-324
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - Jan 1 2001
Externally publishedYes
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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