High precision polishing robot using a learning-based surface following controller

F. Nagata, Y. Kusumoto, K. Watanabe, Kazuo Kiguchi, K. Tsuda, K. Yasuda, K. Yokoyama, M. Umetsu, N. Mori, M. Omoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

10 被引用数 (Scopus)

抄録

In this paper, a high precision polishing robot with a learning-based surface following controller is proposed for polishing PET (poly ethylene terephthalate) bottle molds with curve surface. The shape of a mounted abrasive tool, attached to the tip of the robot arm, is a ball-end type. When a PET bottle mold with a large curvature is polished, not only the orientation of the mounted abrasive tool is fixed but also its revolution is locked. The motion of the mounted abrasive tool is feedforwardly controlled based on initial trajectory calculated in advance. The trajectory is generated by cutter location data constituted from a CAM system. The trajectory is modified through the process of actual polishing. The surface is polished by a polishing force acting between the mold and the abrasive tool. The polishing force is assumed to be considered as a composite force of the contact and kinematic friction forces, in which the friction consists of Coulomb and viscous frictions. Velocities in the normal and tangent directions are delicately controlled so that the proposed system is effective for obtaining a polishing surface as achieved by skilled workers.

本文言語英語
ホスト出版物のタイトルProceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
ホスト出版物のサブタイトルComputational Intelligence in Robotics and Automation for the New Millennium
出版社Institute of Electrical and Electronics Engineers Inc.
ページ91-96
ページ数6
ISBN(電子版)0780378660
DOI
出版ステータス出版済み - 1 1 2003
外部発表はい
イベント2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, 日本
継続期間: 7 16 20037 20 2003

出版物シリーズ

名前Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
1

その他

その他2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
国/地域日本
CityKobe
Period7/16/037/20/03

All Science Journal Classification (ASJC) codes

  • 計算数学

フィンガープリント

「High precision polishing robot using a learning-based surface following controller」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル