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 journalArticlepeer-review

1 Citation (Scopus)


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 languageEnglish
Pages (from-to)106-110
Number of pages5
JournalArtificial Life and Robotics
Issue number1
Publication statusPublished - 2010


  • 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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