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, K.
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.
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M3 - Conference contribution
AN - SCOPUS:84866642682
SN - 9784990288044
T3 - Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
SP - 930
EP - 933
BT - Proceedings of the 15th International Symposium on Artificial Life and Robotics, AROB 15th'10
T2 - 15th International Symposium on Artificial Life and Robotics, AROB '10
Y2 - 4 February 2010 through 6 February 2010
ER -