TY - GEN
T1 - Analysis of tool posture control method on curved surface using polishing machine with 5-axis serial-parallel mechanism
AU - Asaga, Ryosuke
AU - Yamato, Shuntaro
AU - Kakinuma, Yasuhiro
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by JSPS KAKENHI, Grant Number 15H0394.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - The buffing process used in the repair polishing of an automotive body surface is carried out manually using skilled workers based on their own experience. However, the number of skilled workers available in the workforce is decreasing owing to the aging population. In addition, the surface quality after the buffing process has been applied is dependent on the proficiency level of the polishing worker. Therefore, an automation technology for the buffing process is required. In our previous research, we developed a polishing machine with a 5-axis serial-parallel mechanism, and extracted data on the tool trajectory, tool posture, and polishing force from a skilled worker. In addition, a method for simultaneously controlling the tool posture and polishing force on a curved surface was developed. The polishing machine successfully replicates a skilled buffing process on not only flat surfaces but also curved surfaces without applying a teaching-playback method, CAD data, or external sensors. This paper analyzes the proposed control method from the perspective of posture control, and verifies the utility experimentally on a semispherical surface.
AB - The buffing process used in the repair polishing of an automotive body surface is carried out manually using skilled workers based on their own experience. However, the number of skilled workers available in the workforce is decreasing owing to the aging population. In addition, the surface quality after the buffing process has been applied is dependent on the proficiency level of the polishing worker. Therefore, an automation technology for the buffing process is required. In our previous research, we developed a polishing machine with a 5-axis serial-parallel mechanism, and extracted data on the tool trajectory, tool posture, and polishing force from a skilled worker. In addition, a method for simultaneously controlling the tool posture and polishing force on a curved surface was developed. The polishing machine successfully replicates a skilled buffing process on not only flat surfaces but also curved surfaces without applying a teaching-playback method, CAD data, or external sensors. This paper analyzes the proposed control method from the perspective of posture control, and verifies the utility experimentally on a semispherical surface.
KW - curved surface
KW - parallel mechanism
KW - polishing
KW - reproduction
KW - sensor less
KW - skilled worker
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U2 - 10.1109/IECON.2017.8216503
DO - 10.1109/IECON.2017.8216503
M3 - Conference contribution
AN - SCOPUS:85046623908
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 2979
EP - 2984
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Y2 - 29 October 2017 through 1 November 2017
ER -