TY - GEN
T1 - Development of sensorless force-control-based end-effector for automated Robot polishing
AU - Tsukada, Takuhiro
AU - Ogawa, Shotaro
AU - Koto, Katsuki
AU - Kakinuma, Yasuhiro
N1 - Funding Information:
The authors gratefully acknowledge IHI Corporation for their support. The authors thank for OMRON Corporation, OHE Electric Corporation, YASKAWA Electric Corporation for their support.
Publisher Copyright:
Copyright © 2020 ASME
PY - 2020
Y1 - 2020
N2 - As the finishing process in manufacturing a fine mold, manual polishing is typically performed to enhance the surface quality. On the other hand, manual polishing causes increase in costs and health damage to the workers due to sucking polishing dusts. Hence, polishing automation is strongly required by utilizing industrial robots. Regarding robot polishing, highly responsive polishing pressure control is definitely needed so that macro-micro system integrating high-performance end-effector into the articulated robot could be an appropriate approach because response of the robot itself is not sufficiently high. From this viewpoint, the purpose of this study is to develop an end-effector having the ability to simultaneously control polishing force and tool spindle speed. The mechanism and control system of the end-effector are designed and experimentally evaluated. In terms of force control, observer-based force control, which does not require any additional force sensor, is implemented. The experimental results show that the developed end-effector successfully control polishing force with 0.1 N and bandwidth up to 23 Hz.
AB - As the finishing process in manufacturing a fine mold, manual polishing is typically performed to enhance the surface quality. On the other hand, manual polishing causes increase in costs and health damage to the workers due to sucking polishing dusts. Hence, polishing automation is strongly required by utilizing industrial robots. Regarding robot polishing, highly responsive polishing pressure control is definitely needed so that macro-micro system integrating high-performance end-effector into the articulated robot could be an appropriate approach because response of the robot itself is not sufficiently high. From this viewpoint, the purpose of this study is to develop an end-effector having the ability to simultaneously control polishing force and tool spindle speed. The mechanism and control system of the end-effector are designed and experimentally evaluated. In terms of force control, observer-based force control, which does not require any additional force sensor, is implemented. The experimental results show that the developed end-effector successfully control polishing force with 0.1 N and bandwidth up to 23 Hz.
KW - Automation
KW - Polishing
KW - Sensorless force control
UR - http://www.scopus.com/inward/record.url?scp=85092655068&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85092655068&partnerID=8YFLogxK
U2 - 10.1115/ISFA2020-9631
DO - 10.1115/ISFA2020-9631
M3 - Conference contribution
AN - SCOPUS:85092655068
T3 - 2020 International Symposium on Flexible Automation, ISFA 2020
BT - 2020 International Symposium on Flexible Automation, ISFA 2020
PB - American Society of Mechanical Engineers (ASME)
T2 - 2020 International Symposium on Flexible Automation, ISFA 2020
Y2 - 8 July 2020 through 9 July 2020
ER -