Stick-slip motion control for an orthogonal-type robot

F. Nagata, T. Mizobuchi, S. Tani, T. Hase, Z. Haga, K. 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

Publication series

NameProceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10

Other

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

ASJC Scopus subject areas

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

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