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

F. Nagata, Keigo Watanabe, K. Izumi

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

19 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
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages319-324
Number of pages6
Volume1
Publication statusPublished - 2001
Externally publishedYes
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: May 21 2001May 26 2001

Other

Other2001IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period5/21/015/26/01

Fingerprint

Polishing
Trajectories
Robots
Industrial robots
Teaching
Controllers
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Nagata, F., Watanabe, K., & Izumi, K. (2001). Furniture polishing robot using a trajectory generator based on cutter location data. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 1, pp. 319-324)

Furniture polishing robot using a trajectory generator based on cutter location data. / Nagata, F.; Watanabe, Keigo; Izumi, K.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2001. p. 319-324.

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

Nagata, F, Watanabe, K & Izumi, K 2001, Furniture polishing robot using a trajectory generator based on cutter location data. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 1, pp. 319-324, 2001IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, Republic of, 5/21/01.
Nagata F, Watanabe K, Izumi K. Furniture polishing robot using a trajectory generator based on cutter location data. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1. 2001. p. 319-324
Nagata, F. ; Watanabe, Keigo ; Izumi, K. / Furniture polishing robot using a trajectory generator based on cutter location data. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 1 2001. pp. 319-324
@inproceedings{4f78b5e013f7435e81d7e84378c42446,
title = "Furniture polishing robot using a trajectory generator based on cutter location data",
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.",
author = "F. Nagata and Keigo Watanabe and K. Izumi",
year = "2001",
language = "English",
volume = "1",
pages = "319--324",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Furniture polishing robot using a trajectory generator based on cutter location data

AU - Nagata, F.

AU - Watanabe, Keigo

AU - Izumi, K.

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0034873554&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034873554&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0034873554

VL - 1

SP - 319

EP - 324

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -