Development of sensorless force-control-based end-effector for automated Robot polishing

Takuhiro Tsukada, Shotaro Ogawa, Katsuki Koto, Yasuhiro Kakinuma

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2020 International Symposium on Flexible Automation, ISFA 2020
出版社American Society of Mechanical Engineers (ASME)
ISBN(電子版)9780791883617
DOI
出版ステータスPublished - 2020
イベント2020 International Symposium on Flexible Automation, ISFA 2020 - Virtual, Online
継続期間: 2020 7月 82020 7月 9

出版物シリーズ

名前2020 International Symposium on Flexible Automation, ISFA 2020

Conference

Conference2020 International Symposium on Flexible Automation, ISFA 2020
CityVirtual, Online
Period20/7/820/7/9

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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