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 publicationIEEE International Symposium on Industrial Electronics
Pages3577-3582
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy
Duration: Jul 4 2010Jul 7 2010

Other

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

Fingerprint

Stick-slip
Motion control
Lapping
Robots
Molds
Light emitting diodes
Lenses
Wood
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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 IEEE International Symposium on Industrial Electronics (pp. 3577-3582). [5637665] https://doi.org/10.1109/ISIE.2010.5637665

Skillful stick-slip motion control of a cartesian-type robot. / Nagata, Fusaomi; Mizobuchi, Takanori; Habib, Maki K.; Watanabe, Keigo; Hase, Tetsuo; Haga, Zenku.

IEEE International Symposium on Industrial Electronics. 2010. p. 3577-3582 5637665.

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

Nagata, F, Mizobuchi, T, Habib, MK, Watanabe, K, Hase, T & Haga, Z 2010, Skillful stick-slip motion control of a cartesian-type robot. in IEEE International Symposium on Industrial Electronics., 5637665, pp. 3577-3582, 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010, Bari, Italy, 7/4/10. https://doi.org/10.1109/ISIE.2010.5637665
Nagata F, Mizobuchi T, Habib MK, Watanabe K, Hase T, Haga Z. Skillful stick-slip motion control of a cartesian-type robot. In IEEE International Symposium on Industrial Electronics. 2010. p. 3577-3582. 5637665 https://doi.org/10.1109/ISIE.2010.5637665
Nagata, Fusaomi ; Mizobuchi, Takanori ; Habib, Maki K. ; Watanabe, Keigo ; Hase, Tetsuo ; Haga, Zenku. / Skillful stick-slip motion control of a cartesian-type robot. IEEE International Symposium on Industrial Electronics. 2010. pp. 3577-3582
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