Polishing Robot Using Joystick Controlled Teaching

Fusaomi Nagata; Keigo Watanabe; Satoshi Hashino; Hiroyuki Tanaka; Takuro Matsuyama; Kenji Hara

doi:10.20965/jrm.2001.p0517

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JRM Vol.13 No.5 pp. 517-525

doi: 10.20965/jrm.2001.p0517

(2001)

Paper:

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Polishing Robot Using Joystick Controlled Teaching

Fusaomi Nagata^, Keigo Watanabe^, Satoshi Hashino^, Hiroyuki Tanaka^, Takuro Matsuyama^ and Kenji Hara^****

^*Interior Design Research Institute, Fukuoka Industrial Technology Center, Agemaki-405-3, Ohkawa, Fukuoka 831-0031, Japan

^**Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi-1, Saga 840-8502, Japan

^***Fukuoka Industrial Technology Center, Kamikoga 3-2-1, Chikushino, Fukuoka 818-8540, Japan

^****Mechanics & Electronics Research Institute, Fukuoka Industrial Technology Center, Yahatanishiku Norimatsu 3-6-1, Kitakyushu, Fukuoka 807-0831, Japan

Received:

April 5, 2001

Accepted:

May 18, 2001

Published:

October 20, 2001

Keywords:

force control, impedance control, profiling control, cutter location data, teaching, joystick, industrial robot, polishing

Abstract

In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The present method has two characteristics: it is easily applied to the task where an industrial robot polishes an object with desired contact force and orientation and does not need conventional complicated teaching. The effectiveness and promise of the proposed method are demonstrated through experiments in a polishing task using an industrial robot FS-30.

Cite this article as:

F. Nagata, K. Watanabe, S. Hashino, H. Tanaka, T. Matsuyama, and K. Hara, “Polishing Robot Using Joystick Controlled Teaching,” J. Robot. Mechatron., Vol.13 No.5, pp. 517-525, 2001.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Polishing Robot Using Joystick Controlled Teaching

Fusaomi Nagata*, Keigo Watanabe**, Satoshi Hashino***, Hiroyuki Tanaka*, Takuro Matsuyama* and Kenji Hara****

Fusaomi Nagata^, Keigo Watanabe^, Satoshi Hashino^, Hiroyuki Tanaka^, Takuro Matsuyama^ and Kenji Hara^****