會議論文
| 學年 | 88 |
|---|---|
| 學期 | 1 |
| 發表日期 | 1999-10-18 |
| 作品名稱 | Development of a polishing robot system |
| 作品名稱（其他語言） | |
| 著者 | Wang, Y. T.; Wang, C. P. |
| 作品所屬單位 | 淡江大學機械與機電工程學系 |
| 出版者 | IEEE |
| 會議名稱 | Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on |
| 會議地點 | Barcelona, Spain |
| 摘要 | This paper presents the development of a robot-assisted surface finishing system with an active force controller. The system utilizes a dexterous manipulator to attain the desired position and orientation in 3D space during finishing processes. This single-axis force controller consists of a DC motor and a software observer. The DC motor is attached to the robot wrist and used to actuate a pneumatic hand-grinder. The force observer is designed to sense the grinding contact-force based on the driving current and output position of the motor. The function of the active force controller includes observing the polishing contact force, applying a desired polishing pressure in the normal direction of the workpiece surface, and adjusting the contact angle between the hand-grinder and the surface of the workpiece. In this research, the prototype of a robot-assisted polishing system is constructed and tested on a Tatung A-530 robot. The experimental results show that the robot-assisted polishing system functions well under a variety of grinding and polishing conditions |
| 關鍵字 | |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 19991018~19991021 |
| 通訊作者 | |
| 國別 | ESP |
| 公開徵稿 | Y |
| 出版型式 | |
| 出處 | Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on vol.2, pp.1161-1166 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/70666 ) |