Stick-slip motion control for an orthogonal-type robot

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

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 proceeding › Conference 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 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

Publication series

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

Other

Other	15th International Symposium on Artificial Life and Robotics, AROB '10
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

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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference 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. 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.

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AU - Watanabe, K.

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