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 | IEEE International Symposium on Industrial Electronics |
| Pages | 3577-3582 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2010 |
| Event | 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 - Bari, Italy Duration: Jul 4 2010 → Jul 7 2010 |
Other
| Other | 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010 |
|---|---|
| Country | Italy |
| City | Bari |
| Period | 7/4/10 → 7/7/10 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Skillful stick-slip motion control of a cartesian-type robot
AU - Nagata, Fusaomi
AU - Mizobuchi, Takanori
AU - Habib, Maki K.
AU - Watanabe, Keigo
AU - Hase, Tetsuo
AU - Haga, Zenku
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=78650348089&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78650348089&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2010.5637665
DO - 10.1109/ISIE.2010.5637665
M3 - Conference contribution
AN - SCOPUS:78650348089
SN - 9781424463916
SP - 3577
EP - 3582
BT - IEEE International Symposium on Industrial Electronics
ER -