Improvement of accuracy to grind by changing position control gain for shape-grinding

Mamoru Minami, Ken Adachi, Satoshi Sasaki, Akira Yanou

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

3 Citations (Scopus)

Abstract

This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless feed-forward control. However, there is a problem that vibration occurs during the grinding work has emerged, which makes the accuracy of the grinding become worse. Therefore, this paper proposes a method that changes the gain of position control for suppressing the vibration. Results observed by real grinding experiment have confirmed how our proposed method effectively improved accuracy of the grinding.

Original languageEnglish
Title of host publicationModeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014
PublisherTrans Tech Publications Ltd
Pages186-191
Number of pages6
ISBN (Print)9783038351115
DOIs
Publication statusPublished - Jan 1 2014
Event9th International Conference on Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014 - Mangalia, Romania
Duration: Jun 26 2014Jun 29 2014

Publication series

NameApplied Mechanics and Materials
Volume555
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Conference

Conference9th International Conference on Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014
CountryRomania
CityMangalia
Period6/26/146/29/14

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Keywords

  • Constrained force
  • Force-sensorless grinding
  • Shape-grinding

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Minami, M., Adachi, K., Sasaki, S., & Yanou, A. (2014). Improvement of accuracy to grind by changing position control gain for shape-grinding. In Modeling and Optimization of the Aerospace, Robotics, Mechatronics, Machines-Tools, Mechanical Engineering and Human Motricity Fields, OPTIROB 2014 (pp. 186-191). (Applied Mechanics and Materials; Vol. 555). Trans Tech Publications Ltd. https://doi.org/10.4028/www.scientific.net/AMM.555.186