A robust trajectory tracking control of a polishing robot system based on CAM data

Lee, M.C.; Go, Seok Jo; Jun, Cha-Soo; Kim, D.S.; Cha, K; Ahn, Jaehun

doi:10.1016/s0736-5845(00)00052-1

Cited by 59 publications

(20 citation statements)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Despite of the numerous approaches of applying a robot assisted polishing [6,8,9,12,[15][16][17][18] no serial production ready system is available on the market which can be implemented in the production of steel molds and dies. Based on an extensive analysis of the manual polishing process, the previous mentioned preliminary tests as well as the published automated approaches the requirement specification for the robot polishing system was elaborated.…”

Section: Machine Requirements For the Polishing Of Free-form Moldsmentioning

confidence: 99%

“…The robot is guiding the polishing head with a given trajectory on the mold surface. Different kinds of tool path geometries like spiral, raster, random, peano or lissajous path [5,[14][15][16] can be designed on the basis of a Unigraphics CAD/CAM module. To run the robot with the given trajectory a special converter was written to translate the tool path G-code in a robot adequate program format (in this case Rapid-code).…”

Section: Control Systemmentioning

confidence: 99%

See 1 more Smart Citation

Development of a force controlled orbital polishing head for free form surface finishing

Brecher

Tuecks

Zunke

et al. 2010

Prod. Eng. Res. Devel.

View full text Add to dashboard Cite

Polishing is the last and the most essential process step to guarantee the required form accuracy and especially the surface roughness in the production of steel molds. This is true for polishing of molds for optics manufacturing as well as mold making in the field of aviation, automotive or consumer products. One of the characteristics of the production is that in most cases the finishing is done by manual labor which is extremely time consuming and cost intensive. Moreover the polishing result is crucially depending on the worker's skill and education. To overcome these limitations Fraunhofer IPT is developing a fully automated polishing cell which realizes a completely automated and reproducible finishing process. By this means an important competitive advantage for high-wage countries will result. A standard six-axis industrial robot with a novel force controlled orbital polishing head will support the manual processing. In this paper, the mechanical setup of the de veloped orbital polishing head as well as its control system is described, starting from an analysis of the polishing process and the derivation of the requirement specification

show abstract

Section: Machine Requirements For the Polishing Of Free-form Moldsmentioning

confidence: 99%

Section: Control Systemmentioning

confidence: 99%

Development of a force controlled orbital polishing head for free form surface finishing

Brecher

Tuecks

Zunke

et al. 2010

Prod. Eng. Res. Devel.

View full text Add to dashboard Cite

show abstract

“…More than several hundreds of reciprocates oscillating is needed for fine finishing. There have been a lot of requests for automating this heavy work, and several researches for automating the mold polishing work using industrial robot manipulators [1][2][3][4][5]. Industrial robots are aimed not for force control but for position control.…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Parallel Robot for Mold Polishing

Harada

2016

MATEC Web of Conferences

View full text Add to dashboard Cite

Abstract.A novel redundantly actuated parallel robot for mold polishing work is proposed. Cogging-less direct drive motors are implemented in the prototype. Instead of using conventional spherical sliding bearings, ball bearings with appropriate preload are implemented in the rolling pairs of the prototype. These mechanical parts enable fine force control for mold polishing work. The rated force of the robot perpendicular to the surface on the workpiece is 20 N with a tangential force of 5 N, which enable the robot to execute polishing tasks as well as skilled workers. In addition, the polishing velocity along the tangential direction is 60 m/min, which exceeds skilled workers' velocity of 10 m/min. High speed feed contributes to reducing the polishing force and improving the quality of the surface of the mold. Kinematics, statics, dynamics and control of redundantly actuated parallel robot are discussed in this paper. Impedance control was implemented to the prototype for stably executing the mold polishing work.

show abstract

“…They include work in end-effector design for robot-assisted polishing [1], process modeling and planning [2][3][4] and the design of tool paths for finishing [5]. There is, however, little work done in the automatic inspection of those finishing operations.…”

Section: Introductionmentioning

confidence: 99%