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 figuresList of tablesPrefaceAbout the authorsIntroductionChapter 1: Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robotsAbstract:1.1 Background1.2 Basic Servo System1.3 Dynamic simulation1.4 In case of fuzzy control1.5 In case of neural network1.6 ConclusionChapter 2: Preliminary simulation of intelligent force controlAbstract:2.1 Introduction2.2 Impedance model following force control2.3 Influence of environmental viscosity2.4 Fuzzy environment model2.5 ConclusionChapter 3: CAM system for articulated-type industrial robotAbstract:3.1 Background3.1 Desired trajectory3.3 Implementation to industrial robot RV1A3.4 Experiment3.5 Passive force control of industrial robot RV1A3.6 ConclusionChapter 4: 3D robot sander for artistically designed furnitureAbstract:4.1 Background4.2 Feedfoward position/orientation control based on post-process of CAM4.3 Hybrid position/force control with weak coupling4.4 Robotic sanding system for wooden parts with curved surfaces4.5 Surface-following control for robotic sanding system4.6 Feedback control of polishing force4.7 Feedforward and feedback control of position4.8 Hyper CL data4.9 Experimental result4.10 ConclusionChapter 5: 3D machining system for artistic wooden paint rollersAbstract:5.1 Background5.2 Conventional five-axis nc machine tool with a tilting head5.3 Intelligent machining system for artistic design of wooden paint rollers5.4 Experiments5.5 ConclusionChapter 6: Polishing robot for pet bottle blow moldsAbstract:6.1 Background6.2 Generation of multi-axis cutter location data6.3 Basic Polishing Scheme for a Ball End Abrasive Tool6.4 Feedback Control of Polishing Force6.5 Feedforward and Feedback Control of Tool Position6.6 Update timing of CL data6.7 Experiment6.8 ConclusionChapter 7: Desktop orthogonal-type robot for LED lens cavitiesAbstract:7.1 Background7.2 Limitation of a polishing system based on an articulated-type industrial robot7.3 Desktop orthogonal-type robot with compliance controllability7.4 Transformation technique of manipulated values from velocity to pulse7.5 Desired damping considering the critically damped condition7.6 Design of weak coupling control between force feedback loop and position feedback loop7.7 Basic experiment7.8 Frequency characteristics7.9 Application to finishing an LED lens mold7.10 Stickslip motion of tool7.11 Neural Network-Based Stiffness Estimator7.12 Automatic Tool Truing for Long-Time Lapping Process7.13 Force Input Device7.14 ConclusionChapter 8: ConclusionAbstract:ReferencesIndex