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
CountryJapan
CityBeppu, Oita
Period2/4/102/6/10

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Stick-slip motion control for an orthogonal-type robot'. Together they form a unique fingerprint.

  • 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).