Abstract
We have already proposed a position-based impedance control for industrial robots with an open architecture controller. In this paper, it is described on how to easily apply the impedance controlled robot to a profiling task along the object with curved surface and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by CAD/ CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with multiaxis numerical control (NC) machine tool, the CL data can be used as the prior information of object shape. The compensator using the CL data generates not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to obtain the desired trajectory without complicated teaching, and to improve the performance for profiling control. Some profiling control experiments using an industrial robot JS-10 are shown to demonstrate the effectiveness of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 473-477 |
| Number of pages | 5 |
| Journal | Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering |
| Volume | 66 |
| Issue number | 3 |
| Publication status | Published - 2000 |
| Externally published | Yes |
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Keywords
- 5-axis NC machine tool
- Cutter location data
- Feedback control
- Feedforward control
- Impedance control
- Industrial robot
- Open architecture controller
- Profiling task
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Profiling control for industrial robots using a position compensator based on cutter location data. / Nagata, Fusaomi; Watanabe, Keigo; Izumi, Kiyotaka.
In: Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering, Vol. 66, No. 3, 2000, p. 473-477.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Profiling control for industrial robots using a position compensator based on cutter location data
AU - Nagata, Fusaomi
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 2000
Y1 - 2000
N2 - We have already proposed a position-based impedance control for industrial robots with an open architecture controller. In this paper, it is described on how to easily apply the impedance controlled robot to a profiling task along the object with curved surface and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by CAD/ CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with multiaxis numerical control (NC) machine tool, the CL data can be used as the prior information of object shape. The compensator using the CL data generates not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to obtain the desired trajectory without complicated teaching, and to improve the performance for profiling control. Some profiling control experiments using an industrial robot JS-10 are shown to demonstrate the effectiveness of the proposed method.
AB - We have already proposed a position-based impedance control for industrial robots with an open architecture controller. In this paper, it is described on how to easily apply the impedance controlled robot to a profiling task along the object with curved surface and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by CAD/ CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with multiaxis numerical control (NC) machine tool, the CL data can be used as the prior information of object shape. The compensator using the CL data generates not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to obtain the desired trajectory without complicated teaching, and to improve the performance for profiling control. Some profiling control experiments using an industrial robot JS-10 are shown to demonstrate the effectiveness of the proposed method.
KW - 5-axis NC machine tool
KW - Cutter location data
KW - Feedback control
KW - Feedforward control
KW - Impedance control
KW - Industrial robot
KW - Open architecture controller
KW - Profiling task
UR - http://www.scopus.com/inward/record.url?scp=0001146041&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0001146041&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:0001146041
VL - 66
SP - 473
EP - 477
JO - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
JF - Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering
SN - 0912-0289
IS - 3
ER -