Performance test of a force controlled robot sander using a surface following controller based on cutter location data

Translated title of the contribution: Performance test of a force controlled robot sander using a surface following controller based on cutter location data

Fusaomi Nagata, Keigo Watanabe, Kunihiro Tsuda, Syuji Kawaguchi, Yoshihiro Fujimoto, Yasuhide Murase

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)

Abstract

This paper describes two indispensable techniques to develop a flexible sanding robot. One is the impedance model following force control for industrial robots which can delicately control the contact force acting between the sanding tool and the workpiece. The other is the surface following controller using the cutter location data to suitably keep the position and orientation of the sanding tool without complicated teaching process. The techniques are applied to an open architectural industrial robot FS-20 with an air-driven double action sander, so that a useful robot sander can be easily realized. Some sanding experiments have demonstrated that the proposed robot sander can successfully accomplish the sanding tasks of wooden workpieces with curved surface.

Translated title of the contributionPerformance test of a force controlled robot sander using a surface following controller based on cutter location data
Original languageJapanese
Pages (from-to)953-957
Number of pages5
JournalSeimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
Volume68
Issue number7
DOIs
Publication statusPublished - Jul 2002

ASJC Scopus subject areas

  • Mechanical Engineering

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