Stick-slip motion control based on cutter location data for an orthogonal-type robot

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

doi:10.1007/s10015-010-0775-x

Stick-slip motion control based on cutter location data for an orthogonal-type robot

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

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool's movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.

Original language	English
Pages (from-to)	106-110
Number of pages	5
Journal	Artificial Life and Robotics
Volume	15
Issue number	1
DOIs	https://doi.org/10.1007/s10015-010-0775-x
Publication status	Published - 2010

Keywords

CAD/CAM
Cutter location data
Force control
Orthogonal-type robot
Stick-slip motion

ASJC Scopus subject areas

Biochemistry, Genetics and Molecular Biology(all)
Artificial Intelligence

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10.1007/s10015-010-0775-x

Cite this

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title = "Stick-slip motion control based on cutter location data for an orthogonal-type robot",

abstract = "In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool's movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.",

keywords = "CAD/CAM, Cutter location data, Force control, Orthogonal-type robot, Stick-slip motion",

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T1 - Stick-slip motion control based on cutter location data for an orthogonal-type robot

AU - Nagata, Fusaomi

AU - Mizobuchi, Takanori

AU - Tani, Shintaro

AU - Hase, Tetsuo

AU - Haga, Zenku

AU - Watanabe, Keigo

AU - Habib, Maki K.

PY - 2010

Y1 - 2010

N2 - In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool's movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.

AB - In this article, a new desktop orthogonal-type robot, which has the capacity of stick-slip motion control based on cutter location data, is presented for lapping small metallic molds with a curved surface. The robot consists of three single-axis devices with a high position resolution of 1 μm. A thin wooden stick tool with a ball-end shape is attached to the tip of the z-axis. In order to improve the lapping performance, a novel stick-slip motion control method is developed in the control system. The small stick-slip motion is orthogonally generated in the direction of the tool's movement. The effectiveness of stick-slip motion control is examined through an actual lapping test of an LED lens cavity.

KW - CAD/CAM

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KW - Force control

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KW - Stick-slip motion

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Stick-slip motion control based on cutter location data for an orthogonal-type robot

Abstract

Keywords

ASJC Scopus subject areas

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