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 language | English |
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| Title of host publication | Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 |
| Pages | 930-933 |
| Number of pages | 4 |
| Publication status | Published - 2010 |
| Event | 15th International Symposium on Artificial Life and Robotics, AROB '10 - Beppu, Oita, Japan Duration: Feb 4 2010 → Feb 6 2010 |
Publication series
| Name | Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10 |
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Other
| Other | 15th International Symposium on Artificial Life and Robotics, AROB '10 |
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| Country | Japan |
| City | Beppu, Oita |
| Period | 2/4/10 → 2/6/10 |
ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
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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). (Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10).