Performance Test of a Force Controlled Robot Sander Using a Surface Following Controller Based on Cutter Location Data

Fusaomi NAGATA; Keigo WATANABE; Kunihiro TSUDA

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Performance Test of a Force Controlled Robot Sander Using a Surface Following Controller Based on Cutter Location Data

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摘要

This paper describes two indispensable techniques to develop a flexible sanding robot. One is the impedance model following force control for industrial robots which can delicately control the contact force acting between the sanding tool and the workpiece. The other is the surface following controller using the cutter location data to suitably keep the position and orientation of the sanding tool without complicated teaching process. The techniques are applied to an open architectural industrial robot FS-20 with an air-driven double action sander, so that a useful robot sander can be easily realized. Some sanding experiments have demonstrated that the proposed robot sander can successfully accomplish the sanding tasks of wooden workpieces with curved surface.

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《精密工学会誌》 |2002年第7期|953-957|共5页
作者
Fusaomi NAGATA; Keigo WATANABE; Kunihiro TSUDA;
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正文语种日语
中图分类机械制造工艺;仪器、仪表;
关键词
sanding; polishing; cutter location data; industrial robot; open architectural controller; trajectory generator; impedance control; wooden workpiece; curved surface;

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Performance Test of a Force Controlled Robot Sander Using a Surface Following Controller Based on Cutter Location Data

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