Generation of normalized tool vector from 3-axis CL data and its application to a mold polishing robot

Fusaomi Nagata, Keigo Watanabe, Yukihiro Kusumoto, Kiminori Yasuda, Osamu Tsukamoto, Kunihiro Tsuda, Masaaki Omoto, Zenko Haga, Tetsuo Hase

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

3 Citations (Scopus)

Abstract

Cutter location (CL) data with normal vectors can be used for not only a desired trajectory of tool's translational motions but also a desired force direction for molds. In this paper, such normalized tool vectors from 3-axis CL data are generated for a polishing robot The resultant CL data allow the polishing robot based on an industrial robot to realize a teaching-less operation of position and force. The present robot can also control the polishing force consisting of the contact and kinetic friction forces. During the polishing of a mold, a position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so as not to make the tool deviate from the desired trajectory. The effectiveness and validity of the proposed robot have been proved by actual polishing experiments using an aluminum mold with curved surface.

Original languageEnglish
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages3971-3976
Number of pages6
Publication statusPublished - Dec 1 2004
Externally publishedYes
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Publication series

Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Volume4

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Nagata, F., Watanabe, K., Kusumoto, Y., Yasuda, K., Tsukamoto, O., Tsuda, K., Omoto, M., Haga, Z., & Hase, T. (2004). Generation of normalized tool vector from 3-axis CL data and its application to a mold polishing robot. In 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3971-3976). (2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); Vol. 4).