High precision polishing robot using a learning-based surface following controller

F. Nagata, Y. Kusumoto, K. Watanabe, K. Kiguchi, K. Tsuda, K. Yasuda, K. Yokoyama, M. Umetsu, N. Mori, M. Omoto

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

10 Citations (Scopus)

Abstract

In this paper, a high precision polishing robot with a learning-based surface following controller is proposed for polishing PET (poly ethylene terephthalate) bottle molds with curve surface. The shape of a mounted abrasive tool, attached to the tip of the robot arm, is a ball-end type. When a PET bottle mold with a large curvature is polished, not only the orientation of the mounted abrasive tool is fixed but also its revolution is locked. The motion of the mounted abrasive tool is feedforwardly controlled based on initial trajectory calculated in advance. The trajectory is generated by cutter location data constituted from a CAM system. The trajectory is modified through the process of actual polishing. The surface is polished by a polishing force acting between the mold and the abrasive tool. The polishing force is assumed to be considered as a composite force of the contact and kinematic friction forces, in which the friction consists of Coulomb and viscous frictions. Velocities in the normal and tangent directions are delicately controlled so that the proposed system is effective for obtaining a polishing surface as achieved by skilled workers.

Original languageEnglish
Title of host publicationProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
Subtitle of host publicationComputational Intelligence in Robotics and Automation for the New Millennium
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages91-96
Number of pages6
ISBN (Electronic)0780378660
DOIs
Publication statusPublished - Jan 1 2003
Externally publishedYes
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: Jul 16 2003Jul 20 2003

Publication series

NameProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
Volume1

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
CountryJapan
CityKobe
Period7/16/037/20/03

    Fingerprint

ASJC Scopus subject areas

  • Computational Mathematics

Cite this

Nagata, F., Kusumoto, Y., Watanabe, K., Kiguchi, K., Tsuda, K., Yasuda, K., Yokoyama, K., Umetsu, M., Mori, N., & Omoto, M. (2003). High precision polishing robot using a learning-based surface following controller. In Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium (pp. 91-96). [1222069] (Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA; Vol. 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222069