Abstract
In this paper, a new desktop NC machine tool with compliance control capability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots. Tools attached to the tip of the z-axis are ball-end abrasive tools. The control system of the NC machine tool is composed of a force feedback loop, position feedback loop and position feed-forward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction force. The position feedback loop controls the position in pick feed direction. Further, the position feed-forward loop leads the tool tip along cutter location data. In order to first confirm the application limit of a conventional industrial robot to a finishing task, we evaluate the backlash that causes the position inaccuracy at the tip of an abrasive tool, through a simple position/ force measurement. Through a similar measurement and a surface following control experiment along a lens mold, the basic position/force controllability with high resolutions is demonstrated.
| Original language | English |
|---|---|
| Pages (from-to) | 423-427 |
| Number of pages | 5 |
| Journal | Artificial Life and Robotics |
| Volume | 13 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
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Keywords
- CAD/CAM
- Compliant motion
- Desktop NC machine tool
- Mold finishing
- Small curved surface
- Spiral path
ASJC Scopus subject areas
- Artificial Intelligence
- Biochemistry, Genetics and Molecular Biology(all)
Cite this
Intelligent desktop NC machine tool with compliant motion capability. / Nagata, Fusaomi; Hase, Tetsuo; Haga, Zenku; Omoto, Masaaki; Watanabe, Keigo.
In: Artificial Life and Robotics, Vol. 13, No. 2, 2009, p. 423-427.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Intelligent desktop NC machine tool with compliant motion capability
AU - Nagata, Fusaomi
AU - Hase, Tetsuo
AU - Haga, Zenku
AU - Omoto, Masaaki
AU - Watanabe, Keigo
PY - 2009
Y1 - 2009
N2 - In this paper, a new desktop NC machine tool with compliance control capability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots. Tools attached to the tip of the z-axis are ball-end abrasive tools. The control system of the NC machine tool is composed of a force feedback loop, position feedback loop and position feed-forward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction force. The position feedback loop controls the position in pick feed direction. Further, the position feed-forward loop leads the tool tip along cutter location data. In order to first confirm the application limit of a conventional industrial robot to a finishing task, we evaluate the backlash that causes the position inaccuracy at the tip of an abrasive tool, through a simple position/ force measurement. Through a similar measurement and a surface following control experiment along a lens mold, the basic position/force controllability with high resolutions is demonstrated.
AB - In this paper, a new desktop NC machine tool with compliance control capability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots. Tools attached to the tip of the z-axis are ball-end abrasive tools. The control system of the NC machine tool is composed of a force feedback loop, position feedback loop and position feed-forward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction force. The position feedback loop controls the position in pick feed direction. Further, the position feed-forward loop leads the tool tip along cutter location data. In order to first confirm the application limit of a conventional industrial robot to a finishing task, we evaluate the backlash that causes the position inaccuracy at the tip of an abrasive tool, through a simple position/ force measurement. Through a similar measurement and a surface following control experiment along a lens mold, the basic position/force controllability with high resolutions is demonstrated.
KW - CAD/CAM
KW - Compliant motion
KW - Desktop NC machine tool
KW - Mold finishing
KW - Small curved surface
KW - Spiral path
UR - http://www.scopus.com/inward/record.url?scp=62549111774&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62549111774&partnerID=8YFLogxK
U2 - 10.1007/s10015-008-0567-8
DO - 10.1007/s10015-008-0567-8
M3 - Article
AN - SCOPUS:62549111774
VL - 13
SP - 423
EP - 427
JO - Artificial Life and Robotics
JF - Artificial Life and Robotics
SN - 1433-5298
IS - 2
ER -