Stability of grinding robot with compliance.
نویسندگان
چکیده
منابع مشابه
Active Compliant Motion Control for Grinding Robot
A grinding robot system is presented in this paper. Active compliant motion control is applied to keep contacting between grinding tool and work pieces and auto surface tracking algorithm was developed to trace the outline of work-pieces. For real implementation of the system, the shape of work pieces are informed through barcode and the piece’s dimension is measured with a laser distance senso...
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Path planning for a robot-assisted surface finishing system with an active torque controller is presented in this paper. We utilize a dexterous manipulator to attain the desired position and orientation in three-dimensional space during finishing processes. A single-axis active controller consists of a dc motor and a software observer is attached to the robot wrist and used to actuate a pneumat...
متن کاملProcess Analysis and Design for Grinding Robot Tool Holders
A simple and effective solution to the robot grinding problem is introduced, which significantly reduces vibrations during grinding without additional actuators or active control. The objective is to determine the optimal compliance design for grinding robot tool holders. Specifically, the tool holder design should improve accuracy and productivity while protecting the robot arm from the large ...
متن کاملCompliance Analysis of an Articulated Machining Robot
Primljeno (Received): 2011-10-10 Prihvaćeno (Accepted): 2012-02-07 Original scientific paper This paper describes analytically and experimentally based compliance modeling and identification of 5-axis vertical articulated machining robot. The conventional method for the calculation of Cartesian space compliance based on joint compliances and Jacobian matrix is expanded and used for experimental...
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In situations where robots share their workspace with humans, and where physical human-robot interaction is possible or even necessary, safety is of paramount importance. Low weight and passive compliance are often considered important aspects contributing to robot safety. In this paper, the role of passive compliance is investigated with respect to the safety of a 2-DOF pneumatically actuated ...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1989
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.7.3_116