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JRM Vol.18 No.1 pp. 76-82
doi: 10.20965/jrm.2006.p0076
(2006)

Paper:

Feed Rate Control Using Fuzzy Reasoning for a Mold Polishing Robot

Fusaomi Nagata*, and Keigo Watanabe**

*Fukuoka Industrial Technology Center, 3-6-1 Norimatsu, Yahatanishi, Kitakyushu, Fukuoka 807-0831, Japan

**Graduate School of Science and Engineering, Saga University, 1 Honjomachi, Saga 840-8502, Japan

Received:
July 15, 2005
Accepted:
November 7, 2005
Published:
February 20, 2006
Keywords:
CAD/CAM, feed rate, fuzzy reasoning, hybrid position/force control, polishing robot
Abstract

Reducing time cost of polishing process is a major issue in metallic mold manufacturing. The feed rate, i.e., tangential velocity, of a polishing robot is generally limited to maintain stable contact with workpieces having a large curvature. We propose a feed rate generator using fuzzy reasoning for polishing robots that regulates the feed rate along free-formed surfaces appropriately. The smaller the curvature of the model designed by a 3D CAD, the larger the distance between two adjacent cutter location data (CL data) steps generated by the main processor of CAM. Therefore, given curvature results in acquiring the distance between two adjacent steps of CL data. We also propose a hybrid position/force controller with the feed rate generator enabling the robot to conduct polishing efficiently. Experiments show promising results.

Cite this article as:
Fusaomi Nagata and Keigo Watanabe, “Feed Rate Control Using Fuzzy Reasoning for a Mold Polishing Robot,” J. Robot. Mechatron., Vol.18, No.1, pp. 76-82, 2006.
Data files:
References
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Last updated on Oct. 15, 2021