Controller Design for Industrial Robots and Machine Tools

Advanced manufacturing systems are vital to the manufacturing industry. It is well known that if a target work piece has a curved surface, then automation of the polishing process is difficult. Controller design for industrial robots and machine tools presents results where industrial robots have been successfully applied to such surfaces, presenting up to date information on these advanced manufacturing systems, including key technologies. Chapters cover topics such as velocity-based discrete-time control system for industrial robots; preliminary simulation of intelligent force control; CAM system for an articulated industrial robot; a robot sander for artistic furniture; a machining system for wooden paint rollers; a polishing robot for PET bottle blow moulds; and a desktop orthogonal-type robot for finishing process of LED lens cavity; and concludes with a summary. The book is aimed at professionals with experience in industrial manufacturing, and engineering students at undergraduate and postgraduate level. - Presents results where industrial robots have been used successfully to polish difficult surfaces - Presents the latest technology in the field - Includes key technology such as customized several position and force controllers

Fusaomi Nagata is a professor in the Department of Mechanical Engineering, Faculty of Engineering, Tokyo University of Science, Yamaguchi, Japan.Keigo Watanabe is a professor in the Department of Intelligent Mechanical Systems, Graduate School of Natural Science and Technology, Okayama University, Japan.

List of figures List of tables Preface About the authors Introduction Chapter 1: Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots Abstract: 1.1 Background 1.2 Basic Servo System 1.3 Dynamic simulation 1.4 In case of fuzzy control 1.5 In case of neural network 1.6 Conclusion Chapter 2: Preliminary simulation of intelligent force control Abstract: 2.1 Introduction 2.2 Impedance model following force control 2.3 Influence of environmental viscosity 2.4 Fuzzy environment model 2.5 Conclusion Chapter 3: CAM system for articulated-type industrial robot Abstract: 3.1 Background 3.1 Desired trajectory 3.3 Implementation to industrial robot RV1A 3.4 Experiment 3.5 Passive force control of industrial robot RV1A 3.6 Conclusion Chapter 4: 3D robot sander for artistically designed furniture Abstract: 4.1 Background 4.2 Feedfoward position/orientation control based on post-process of CAM 4.3 Hybrid position/force control with weak coupling 4.4 Robotic sanding system for wooden parts with curved surfaces 4.5 Surface-following control for robotic sanding system 4.6 Feedback control of polishing force 4.7 Feedforward and feedback control of position 4.8 Hyper CL data 4.9 Experimental result 4.10 Conclusion Chapter 5: 3D machining system for artistic wooden paint rollers Abstract: 5.1 Background 5.2 Conventional five-axis nc machine tool with a tilting head 5.3 Intelligent machining system for artistic design of wooden paint rollers 5.4 Experiments 5.5 Conclusion Chapter 6: Polishing robot for pet bottle blow molds Abstract: 6.1 Background 6.2 Generation of multi-axis cutter location data 6.3 Basic Polishing Scheme for a Ball End Abrasive Tool 6.4 Feedback Control of Polishing Force 6.5 Feedforward and Feedback Control of Tool Position 6.6 Update timing of CL data 6.7 Experiment 6.8 Conclusion Chapter 7: Desktop orthogonal-type robot for LED lens cavities Abstract: 7.1 Background 7.2 Limitation of a polishing system based on an articulated-type industrial robot 7.3 Desktop orthogonal-type robot with compliance controllability 7.4 Transformation technique of manipulated values from velocity to pulse 7.5 Desired damping considering the critically damped condition 7.6 Design of weak coupling control between force feedback loop and position feedback loop 7.7 Basic experiment 7.8 Frequency characteristics 7.9 Application to finishing an LED lens mold 7.10 Stickslip motion of tool 7.11 Neural Network-Based Stiffness Estimator 7.12 Automatic Tool Truing for Long-Time Lapping Process 7.13 Force Input Device 7.14 Conclusion Chapter 8: Conclusion Abstract: References Index