機械加工バリ取り作業を対象とした力制御の追従性向上 Force Control for Deburring of Machined Casted Iron Parts
Force control of a manipulator is essential in a finishing robot system. But, there is not an effective force control method and a manipulator mechanism for every finishing task because finishing processes are different in individual tasks. In this paper, examination for deburring of machined tasted iron parts using a force controlled robot with a conic mill was performed. We have proposed a reference trajectory generate function (ROUND function). The ROUND function inserts an arc in the reference trajectory for the two straight edge parts. Thus the press direction changes continuously, and the robot can follow the edges. It is useful when a workpiece position and/or size is different from the taught one. Also, we have developed a new force control method and a tool hold mechanism for deburring of machined casted iron parts. In the force control method, a force feedback gain is proportional to force error. The tool hold mechanism make equalized compliance of the tool center point. The force feedback gain in the new method and the new tool hold mechanism was three times the gain in the conventional method and mechanism.
日本ロボット学会誌 17(1), pp.147-155, 1999-01-15
The Robotics Society of Japan