Abstract²Deburring is a machining process which involves much noise, vibration and dust, so it can be harmful to workers. Therefore, much research has been done to use a manipulator to perform deburring instead of human workers. The precise tracking of the contour of an arbitrary-shaped part is of major concern in robotic deburring. In this study, a tool path generation method based on the CAD model and the direct teaching method is proposed to minimize the position and orientation errors of the workpieces. Without knowledge of the position and orientation of the workpiece, which is often hard to obtain, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. Furthermore, impedance control is used to avoid applying excessive contact force. From a series of experiments on robotic deburring, the performance of the proposed algorithm is verified.
Holographic data storage system is one of the next-generation data storage systems and is characterized by its high storage density and fast data transfer rate. However, holographic data storage systems are very sensitive to disturbances that affect the position of the media. Therefore, tracking servo control is needed to ensure a good performance of the system even if disturbances occur, such as eccentricity of the disk and external shock. In our previous researches on tracking servo methods, we used additional beams or recorded servo track images with data pages to record additional gratings with data pages. Therefore, the recording density may be reduced and the system may be complicated. In addition, the performance of the system may be compromised by cross-talk noise caused between the reference beams and additional beams. In this paper, we propose a tracking servo method using the residual beam, which is reflected by the reflective optical filter. This method does not require recording supplementary gratings or use additional beams, and only needs to record data pages. The residual beam is retrieved with desired retrieved beam by the reference beam and wasted during the retrieving process. We first constructed a holographic data storage system and designed a reflective optical filter to detect tracking error signals. After detecting the tracking error signals, a tracking servo controller using a lead-lag compensator was incorporated to reduce the tracking error signals. The performance of the designed controller was verified by simulated and experimental results. Finally, the performance of the tracking servo method was investigated by comparing the retrieved data images.
There can be many issues when automating a cell manufacturing process using a robot, and the use of a jig is one of them. The last step of a manufacturing process is closing the lid of a product, and it is desirable to perform such a task without using a jig to improve the manufacturing efficiency. In this study, we propose a novel algorithm which uses a dual-arm robot or the friction of the box to compensate for the initial position and orientation errors between the box and the lid. Then, force control can be used to combine the proposed algorithm with an assembly algorithm, enabling a robot to close the lid of a box without a jig regardless of its initial position and orientation errors. The performance of the proposed algorithm was verified through experiments.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.