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

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

doi:10.1109/ISIE.2010.5637665

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 proceeding › Conference 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 language	English
Title of host publication	ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
Pages	3577-3582
Number of pages	6
DOIs	https://doi.org/10.1109/ISIE.2010.5637665
Publication status	Published - 2010
Event	2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy Duration: Jul 4 2010 → Jul 7 2010

Publication series

Name	IEEE International Symposium on Industrial Electronics

Other

Other	2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Country	Italy
City	Bari
Period	7/4/10 → 7/7/10

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics., 5637665, IEEE International Symposium on Industrial Electronics, 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

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