New finishing system for metallic molds using a hybrid motion/force control

Fusaomi Nagata, Keigo Watanabe, Yukihiro Kusumoto, Kunihiro Tsuda, Kiminori Yasuda, Kazuhiko Yokoyama, Naoki Mori

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

9 Citations (Scopus)

Abstract

In this paper, a finishing system with a mounted abrasive tool is proposed for polishing of metallic molds. The shape of the mounted abrasive tool is a ball-end type. When a metallic mold with curved surface 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 an initial trajectory calculated in advance. The surface is polished by the polishing force which consists of a contact force, motion and viscous friction forces acting between the mold and tool. In this case, the velocities in the normal and tangent directions are delicately regulated so that the polishing force can track the desired value. The effectiveness of the proposed system is proved by experiments using an industrial robot with a PC based controller.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2171-2175
Number of pages5
Volume2
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

Other

Other2003 IEEE International Conference on Robotics and Automation
CountryTaiwan, Province of China
CityTaipei
Period9/14/039/19/03

Fingerprint

Force control
Molds
Motion control
Abrasives
Polishing
Industrial robots
Trajectories
Friction
Controllers
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Nagata, F., Watanabe, K., Kusumoto, Y., Tsuda, K., Yasuda, K., Yokoyama, K., & Mori, N. (2003). New finishing system for metallic molds using a hybrid motion/force control. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2, pp. 2171-2175)

New finishing system for metallic molds using a hybrid motion/force control. / Nagata, Fusaomi; Watanabe, Keigo; Kusumoto, Yukihiro; Tsuda, Kunihiro; Yasuda, Kiminori; Yokoyama, Kazuhiko; Mori, Naoki.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2003. p. 2171-2175.

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

Nagata, F, Watanabe, K, Kusumoto, Y, Tsuda, K, Yasuda, K, Yokoyama, K & Mori, N 2003, New finishing system for metallic molds using a hybrid motion/force control. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2, pp. 2171-2175, 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Province of China, 9/14/03.
Nagata F, Watanabe K, Kusumoto Y, Tsuda K, Yasuda K, Yokoyama K et al. New finishing system for metallic molds using a hybrid motion/force control. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2. 2003. p. 2171-2175
Nagata, Fusaomi ; Watanabe, Keigo ; Kusumoto, Yukihiro ; Tsuda, Kunihiro ; Yasuda, Kiminori ; Yokoyama, Kazuhiko ; Mori, Naoki. / New finishing system for metallic molds using a hybrid motion/force control. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2003. pp. 2171-2175
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