CAD/CAM-based position/force controller for a mold polishing robot

Control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for a mold polishing robot. The force feedback loop controls the polishing force cons...

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Bibliographic Details
Published in:Mechatronics (Oxford) 2007-05, Vol.17 (4), p.207-216
Main Authors: Nagata, Fusaomi, Hase, Tetsuo, Haga, Zenku, Omoto, Masaaki, Watanabe, Keigo
Format: Article
Language:English
Subjects:
Applied sciences
CAD/CAM
Computer science
control theory
systems
Control theory. Systems
Cutter location data
Exact sciences and technology
Industrial robot
Mold polishing robot
Non-taught operation
Position/force control
Robotics
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Summary:Control of robotic mold polishing is considered in this paper. CAD/CAM-based position/force controller that simultaneously performs stable force control and exact pick feed control along curved surface is presented for a mold polishing robot. The force feedback loop controls the polishing force consisting of the contact and kinetic friction forces. During the mold polishing, the position feedback loop has a delicate contribution to the force feedback loop in Cartesian space so that the abrasive tool does not deviate from the desired trajectory and keeps a constant pick feed, e.g., 0.2 mm. When the robot with the CAD/CAM-based position/force controller runs, cutter location (CL) data with normal vectors, called multi-axis CL data, are used for not only a desired trajectory of tool translational motion but also desired contact directions given to a mold. The multi-axis CL data allow the mold polishing robot to realize a complete non-taught operation of the position and contact direction. The experimental results show that the CAD/CAM-based position/force control method achieves successful robotic mold polishing with curved surface.
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2007.01.003