Stick-slip motion control for an orthogonal-type robot

F. Nagata, T. Mizobuchi, S. Tani, T. Hase, Z. Haga, Keigo Watanabe, Maki K. Habib

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

Abstract

In this paper, a new desktop orthogonal-type robot, which has abilities of compliant motion and stick-slip motion, is presented for lapping small metallic molds with curved surface. 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 the direction of the tool's moving direction. The effectiveness of the stick-slip motion control is examined through an actual lapping test of an LED lens mold with a diameter of 4 mm.

Original languageEnglish
Title of host publicationProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
Pages930-933
Number of pages4
Publication statusPublished - 2010
Event15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan
Duration: Feb 4 2010Feb 6 2010

Other

Other15th International Symposium on Artificial Life and Robotics, AROB '10
CountryJapan
CityBeppu, Oita
Period2/4/102/6/10

Fingerprint

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Nagata, F., Mizobuchi, T., Tani, S., Hase, T., Haga, Z., Watanabe, K., & Habib, M. K. (2010). Stick-slip motion control for an orthogonal-type robot. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 (pp. 930-933)

Stick-slip motion control for an orthogonal-type robot. / Nagata, F.; Mizobuchi, T.; Tani, S.; Hase, T.; Haga, Z.; Watanabe, Keigo; Habib, Maki K.

Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 930-933.

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

Nagata, F, Mizobuchi, T, Tani, S, Hase, T, Haga, Z, Watanabe, K & Habib, MK 2010, Stick-slip motion control for an orthogonal-type robot. in Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. pp. 930-933, 15th International Symposium on Artificial Life and Robotics, AROB '10, Beppu, Oita, Japan, 2/4/10.
Nagata F, Mizobuchi T, Tani S, Hase T, Haga Z, Watanabe K et al. Stick-slip motion control for an orthogonal-type robot. In Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. p. 930-933
Nagata, F. ; Mizobuchi, T. ; Tani, S. ; Hase, T. ; Haga, Z. ; Watanabe, Keigo ; Habib, Maki K. / Stick-slip motion control for an orthogonal-type robot. Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10. 2010. pp. 930-933
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