機械加工バリ取り作業を対象とした力制御の迫従性向上

• 神野 誠

  株式会社東芝

• 栗田 勝裕

  東芝機械株式会社

書誌事項

タイトル別名

• Force Control for Deburring of Machined Casted Iron Parts.
• キカイ カコウ バリトリ サギョウ オ タイショウ ト シタ チカラ セイギョ ノ ツイジュウセイ コウジョウ

抄録

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.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 17 (1), 147-155, 1999

  一般社団法人 日本ロボット学会

キーワード

• Force Control
• Deburrring Task
• Machined Casted Iron
• Stiffness
• Reference Trajectory

詳細情報

• CRID: 1390001204727247616
• NII論文ID: 10002865500
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.17.147
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 3087167
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3087167
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可