This piper presents ii force controlled robot system ,fi,r grinding, chnmferiizg and polishing in machining [,/Lints.To facilitrite easy operations, a task-oriented robot language and N ,force control method for following edges of workpieces have been developed. In the task-oriented robot language, a task is declared~first by a trisk ncime, a tool code and a tool center point. The tool center point is a position in contrict with U workpiece. These indexes arid ( I force control motion command determine the parameters f o r the force control of the robot. The workpieces f o r grinding, chamfering, and polishing almost cihvays direr their setting position, their size andlor their shcipe each by each even when the workpieces are the same parts in ( I machine. To cope with such workpiece diflerence, a tool monient control method, ci skip fiinction, and ii round filnction have been developed.The experiments chamfering of the edges oj ci part in an injection molding machine are reported
Minimally invasive surgery accelerates postoperative recovery, but can only be applied by surgeons having advanced conduct skills. We developed a master-slave manipulator, i.e., robotic forceps for laparoscopic surgery that enhances surgical skill. Robotic forceps consists of a master-slave manipulator, a support component, a controller, an operating conditions display, and a foot switch for changing operating conditions. This paper details specifications and components of robotic forceps and evaluates conductance, such as measurement of the slave hand’s grip and suturing and ligaturing, conducted on a sponge stomach model. A comparison of support function in experiments demonstrates their effectiveness.
Minimally invasive surgery helps patients by accelerating postoperative recovery. However, its application is impeded because it is necessary for the surgeons performing such surgery to possess surgical skills of a high order. Thus, for laparoscopic surgery, a master slave combined manipulator (MCM) has been proposed that enhances the surgeon's skill. The master grip and the slave hand with wrist joints are combined through the manipulator body, and a surgeon can perform the operation near to the patient. The slave hand is controlled by the master grip electrically and its position is directly controlled by the surgeon. The prototype model of the MCM has been developed and the function of the MCM has been verified by basic evaluation tests, and the MCM has been applied in an animal experiment. This paper describes the basic performance of the MCM.
In the case of conventional industrial robot systems, operators have to write robot-language programs for each type of workpiece. This is an onerous task, especially when each workpiece has a different shape. In this paper, we propose a teaching-less robot system for the finishing of two-dimensional workpieces of various shapes and thicknesses using force control and computer vision. The robot system does not require shape information for the workpiece to be included the CAD data or to be input by the operator. Each workpiece shape is acquired by segmenting edges into straight lines and circular arcs from the image data of the workpiece. The robot-language program for each workpiece is generated automatically from the workpiece shape data and finishing condition data. The effectiveness of the proposed method is veriJied by experiments using a newly developed robot system. In the system, the robot picks up a workpiece whose shape is not previously known on the workpiece stand by itself and carries out the finishing tasks using the automatically generated robot-language program. This method provides a compact and inexpensive finishing robot system which reduces the programming and workpiece-setting burden on the operators.
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