Vibrational motion control for foamed polystyrene machining robot and extraction of radius of curvature for fuzzy feed rate control

Fusaomi Nagata, Maki K. Habib, Akimasa Otsuka, Shohei Hayashi, Tomoya Nagatomi, Keigo Watanabe

Research output: Contribution to journalArticle

1 Citation (Scopus)


There are two serious requirements to machining systems used in manufacturing industries. They are machining quality and efficiency. In this paper, a vibrational motion control is proposed for an endmill attached to the tip of a machining robot to suppress the occurrence of undesirable cusp marks. In addition, the calculation of radius of curvature along discrete CL data is introduced for a fuzzy feed rate controller which can regulate the tangent velocity. The radius of curvature is effective information as a fuzzy input. The effectiveness of the proposed methods is validated through experiments.

Original languageEnglish
Pages (from-to)197-202
Number of pages6
JournalArtificial Life and Robotics
Issue number3
Publication statusPublished - Sep 2 2015



  • Fuzzy input
  • Machining robot
  • Radius of curvature
  • Small vibration

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biochemistry, Genetics and Molecular Biology(all)

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