Development of an impeller grinding robot system and a gyro-moment compensated compliance control

Nonaka, Youichi; Sakaue, Shiyuki; Yanagihara, Yoshihiro; Yokoshima, K.

doi:10.1109/robot.1995.525569

Cited by 7 publications

(3 citation statements)

References 2 publications

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“…Pure position control (motion control or free motion control) is sufficient enough for the above tasks. However, many tasks, such as assembly, drilling, grinding, deburring, polishing, driving a screw, opening and closing a door, turning a crank, handling fragile objects, etc., which involve extensive contact with the environment, are require the control of the interaction (contact tasks) forces arisen during the contact (constrained motion) [2][3][4][5][6]. In other words, for execution of such tasks, traditional pure position control strategies are obviously unsuitable since the environmental dynamics will affect the stability and the performance of the robot's position control loop [2,[7][8][9][10].…”

Section: Ii1 Control Of Robotic Manipulatorsmentioning

confidence: 99%

Comparison of Contact Force Control Strategies on Different Robot Arm Types

Yaltirik

Kar

Ekici

2010

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3

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Nowadays robots are used in various areas. There are extremely important applications where the robot arm tip comes in contact with the environment or an object. During controlling an object, static or in motion, the object or the robot arm should not be damaged. The interaction forces are important in such conditions. Whether the task succeeds or fails depends on how accurate the interaction forces are controlled. The interaction forces are changed depending on the motion of the robot arm. Therefore, to control interaction forces a force control algorithm must be developed. In this research a force control algorithm will first be developed for the quasi-static contact tasks, then it will be extended to the dynamic cases. The goal of this study is to compare force control strategies to achieve the desired interaction forces between the robot arm tip (end-effector) and the environment during contact tasks. Taguchi L9 method is used for comparison of selected force control algorithms which are modeled in SIMULINK MATLAB program.

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Section: Ii1 Control Of Robotic Manipulatorsmentioning

confidence: 99%

Comparison of Contact Force Control Strategies on Different Robot Arm Types

Yaltirik

Kar

Ekici

2010

ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3

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“…Robotic machining has attracted attentions of scholars and many studies on robotic machining application are found. [1][2][3][4] Yet few researches on trajectory planning can be found and current studies are mostly focused on robot system integration and force control. This might be due to a misconception that robot grinding path planning and numerical control (NC) path planning are similar.…”

Section: Introductionmentioning

confidence: 99%

Interpolation optimization for robotic grinding with velocity constraints

Chen

Shao

2017

Advances in Mechanical Engineering

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Low rigidity of industrial robot can easily result in deformations during grinding process and finally lead to a deviation between planned path and actual path. In order to reduce impact of the deviation, with an analysis of the relationship among feed velocity, deformation, and trajectory planning, a deformation-based trajectory optimization approach is proposed in this article. The relationship among grinding angle, feed velocity, deformation, and interpolation point planning is first studied and two velocity constraints are proposed. The positions of interpolation points are then adjusted in accordance with the velocity constraints to optimize trajectory. Experiment results indicate that the proposed trajectory optimization approach can significantly reduce the deformation and vibration occurring in robotic grinding process.

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“…These methods focused not on the path generation of itself but on the improvement of the tool path. While most of robots are controlled under a teaching-playback mode, some studies used CAD/CAM system to realize high-leveled automation [6,7]. However, they did not consider the attitude of the robot arm, but considered the attitude of the tool.…”

Section: Introductionmentioning

confidence: 99%

Automation of Chamfering by an Industrial Robot; For the Case of Hole on a Free Curved Surface

Asakawa¹,

Toda²,

Takeuchi³

2000

IFAC Proceedings Volumes

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Abstract:The study deals with the automatic chamfering for the case of hole on a free curved surface on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees of freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a workpiece with free curved surface.

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Development of an impeller grinding robot system and a gyro-moment compensated compliance control

Cited by 7 publications

References 2 publications

Comparison of Contact Force Control Strategies on Different Robot Arm Types

Comparison of Contact Force Control Strategies on Different Robot Arm Types

Interpolation optimization for robotic grinding with velocity constraints

Automation of Chamfering by an Industrial Robot; For the Case of Hole on a Free Curved Surface

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