Development of a polishing robot system
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
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