| 203B1 |
|---|
| Control of a Teachingless Chamfering Robot by Use of a Force Sensor |
| AUTHORS |
| Junpei Kurogi, Hiroshi Harada (Kumamoto University) Atsuhiko Noda (Kumamoto TLO) |
| ABSTRACT |
| This paper describes a chamfering robot controlled by using a force sensor. Generally, grinding task is very dusty, and the automation of the task is expected to liberate workers from the bad environment. Therefore, the grinding robot has been actively researched. A visual sensor and a force sensor are generally used for the control of these robots, however the grinding robot is not researched so much with only a force sensor. In this paper, we proposed a teachingless chamfering robot system by use of a force sensor. The experimental system consists of a five-degree of freedom industrial manipulator, a six-axis force sensor, a turn-table, a grinder, and a computer. In this research, we derive the length of axle of the grinder and grinding resistance force obtained from the force sensor and the position obtained from the internal sensor of the manipulator. By using these information, the control of the teachingless chamfering robot is achieved. From the results of the experiment carried out in the last year, it was possible to chamfer the work that exists in a specific plane.In this research, we do the chamfering of the work of an arbitrary shape by restraining the work in the specific plane with a turn-table.From the results of the experiment, it was confirmed for the robot to able not to stop and nor to do the chamfering of the work of arbitrary shape. |
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Annual Conference 2002