Orthogonal-type robot with a CAD/CAM-based position/force controller

Fusaomi Nagata, Shintaro Tani, Takanori Mizobuchi, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Keigo Watanabe

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

Abstract

In this paper, a new desktop orthogonal-type robot with a CAD/CAM-based position/force controller is presented for finishing small metallic molds with curved surface. The robot consists of a three-axis robot whose single one has a high position accuracy of 1 μm, which means that it can perform higher resolutions of position and force, compared to general industrial robots. A thin wood stick tool with a ball-end tip is attached to the z-axis through a force sensor. The control system of the robot is comprised of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction. Further, the position feedforward loop leads the tool tip along a spiral path. We first evaluate the backlash that causes inaccuracy in position at the tip of the abrasive tool, by simply measuring the position and force. Next, a surface following control experiment along a lens mold is conducted, in which the mold has axis-symmetric concave areas. Finally, a LED lens mold is further finished by using the proposed system in order to demonstrate the performance and promise.

Original languageEnglish
Title of host publication2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings
Pages1-6
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Nashville, TN, United States
Duration: Mar 30 2009Apr 2 2009

Other

Other2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009
CountryUnited States
CityNashville, TN
Period3/30/094/2/09

Fingerprint

Computer aided manufacturing
Computer aided design
Robots
Feedback
Controllers
Lenses
Control surfaces
Industrial robots
Molds
Polishing
Abrasives
Light emitting diodes
Wood
Friction
Control systems
Kinetics
Sensors
Experiments

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Nagata, F., Tani, S., Mizobuchi, T., Hase, T., Haga, Z., Omoto, M., & Watanabe, K. (2009). Orthogonal-type robot with a CAD/CAM-based position/force controller. In 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings (pp. 1-6). [4982775] https://doi.org/10.1109/CICA.2009.4982775

Orthogonal-type robot with a CAD/CAM-based position/force controller. / Nagata, Fusaomi; Tani, Shintaro; Mizobuchi, Takanori; Hase, Tetsuo; Haga, Zenku; Omoto, Masaaki; Watanabe, Keigo.

2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings. 2009. p. 1-6 4982775.

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

Nagata, F, Tani, S, Mizobuchi, T, Hase, T, Haga, Z, Omoto, M & Watanabe, K 2009, Orthogonal-type robot with a CAD/CAM-based position/force controller. in 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings., 4982775, pp. 1-6, 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009, Nashville, TN, United States, 3/30/09. https://doi.org/10.1109/CICA.2009.4982775
Nagata F, Tani S, Mizobuchi T, Hase T, Haga Z, Omoto M et al. Orthogonal-type robot with a CAD/CAM-based position/force controller. In 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings. 2009. p. 1-6. 4982775 https://doi.org/10.1109/CICA.2009.4982775
Nagata, Fusaomi ; Tani, Shintaro ; Mizobuchi, Takanori ; Hase, Tetsuo ; Haga, Zenku ; Omoto, Masaaki ; Watanabe, Keigo. / Orthogonal-type robot with a CAD/CAM-based position/force controller. 2009 IEEE Symposium on Computational Intelligence in Control and Automation, CICA 2009 - Proceedings. 2009. pp. 1-6
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