Intelligent desktop NC machine tool with compliant motion capability

F. Nagata, T. Hase, Z. Haga, M. Omoto, Keigo Watanabe

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

4 Citations (Scopus)

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 four 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 languageEnglish
Title of host publicationProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08
Pages779-782
Number of pages4
Publication statusPublished - 2008
Externally publishedYes
Event13th International Symposium on Artificial Life and Robotics, AROB 13th'08 - Oita, Japan
Duration: Jan 31 2008Feb 2 2008

Other

Other13th International Symposium on Artificial Life and Robotics, AROB 13th'08
CountryJapan
CityOita
Period1/31/082/2/08

Fingerprint

Machine tools
Feedback
Abrasives
Compliance control
Position measurement
Control surfaces
Force measurement
Industrial robots
Molds
Polishing
Controllability
Lenses
Robots
Friction
Control systems
Kinetics
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Nagata, F., Hase, T., Haga, Z., Omoto, M., & Watanabe, K. (2008). Intelligent desktop NC machine tool with compliant motion capability. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08 (pp. 779-782)

Intelligent desktop NC machine tool with compliant motion capability. / Nagata, F.; Hase, T.; Haga, Z.; Omoto, M.; Watanabe, Keigo.

Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. p. 779-782.

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

Nagata, F, Hase, T, Haga, Z, Omoto, M & Watanabe, K 2008, Intelligent desktop NC machine tool with compliant motion capability. in Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. pp. 779-782, 13th International Symposium on Artificial Life and Robotics, AROB 13th'08, Oita, Japan, 1/31/08.
Nagata F, Hase T, Haga Z, Omoto M, Watanabe K. Intelligent desktop NC machine tool with compliant motion capability. In Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. p. 779-782
Nagata, F. ; Hase, T. ; Haga, Z. ; Omoto, M. ; Watanabe, Keigo. / Intelligent desktop NC machine tool with compliant motion capability. Proceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08. 2008. pp. 779-782
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