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 |
|---|---|
| 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 |
Other
| Other | 15th International Symposium on Artificial Life and Robotics, AROB '10 |
|---|---|
| Country | Japan |
| City | Beppu, Oita |
| Period | 2/4/10 → 2/6/10 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Computer Vision and Pattern Recognition
- Human-Computer Interaction
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Stick-slip motion control for an orthogonal-type robot
AU - Nagata, F.
AU - Mizobuchi, T.
AU - Tani, S.
AU - Hase, T.
AU - Haga, Z.
AU - Watanabe, Keigo
AU - Habib, Maki K.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84866642682&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866642682&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9784990288044
SP - 930
EP - 933
BT - Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
ER -