Skillful stick-slip motion control of a cartesian-type robot

Fusaomi Nagata, Takanori Mizobuchi, Maki K. Habib, Keigo Watanabe, Tetsuo Hase, Zenku Haga

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

Abstract

In this paper, a new desktop Cartesian-type (orthogonal-type) robot, which has abilities of compliant motion and stick-slip motion, is presented for lapping small metallic molds with curved surface. The size is 850 mm width, 645 mm depth and 700 mm height. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wood stick tool is attached to the tip of the z-axis. The tool tip has a small ball-end shape. In order to improve the lapping performance, a small stick-slip motion control is considered in the control system. The small stick-slip motion is orthogonally generated to tool's moving direction. The effectiveness and promise of the stick-slip motion control are examined through an actual lapping test of an LED lens mold with a diameter of 4 mm.

Original languageEnglish
Title of host publicationISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages3577-3582
Number of pages6
DOIs
Publication statusPublished - Dec 27 2010
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: Jul 4 2010Jul 7 2010

Publication series

NameIEEE International Symposium on Industrial Electronics

Other

Other2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
CountryItaly
CityBari
Period7/4/107/7/10

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'Skillful stick-slip motion control of a cartesian-type robot'. Together they form a unique fingerprint.

  • Cite this

    Nagata, F., Mizobuchi, T., Habib, M. K., Watanabe, K., Hase, T., & Haga, Z. (2010). Skillful stick-slip motion control of a cartesian-type robot. In ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics (pp. 3577-3582). [5637665] (IEEE International Symposium on Industrial Electronics). https://doi.org/10.1109/ISIE.2010.5637665