Intelligent desktop NC machine tool with compliant motion capability

F. Nagata, T. Hase, Z. Haga, M. Omoto, K. 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

Publication series

NameProceedings of the 13th International Symposium on Artificial Life and Robotics, AROB 13th'08

Other

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

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Intelligent desktop NC machine tool with compliant motion capability'. Together they form a unique fingerprint.

Cite this