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Development of an Operating Robot System for Die and Mold Polishing
https://niit.repo.nii.ac.jp/records/115
https://niit.repo.nii.ac.jp/records/115265a0762-eb0b-49bb-8763-c7a408f18a06
名前 / ファイル | ライセンス | アクション |
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9_1-9.pdf (960.5 kB)
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Item type | 紀要論文 / Departmental Bulletin Paper(1) | |||||
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公開日 | 2010-11-08 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Development of an Operating Robot System for Die and Mold Polishing | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題 | Operating robot | |||||
キーワード | ||||||
主題 | Die and mold polishing | |||||
キーワード | ||||||
主題 | Master-slave robot system | |||||
キーワード | ||||||
主題 | Force control | |||||
キーワード | ||||||
主題 | Force-reflecting bilateral control | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | departmental bulletin paper | |||||
著者 |
Nakajima, Shin-ichi
× Nakajima, Shin-ichi× Terashima, Shojiro× Shirakawa, Masashi |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper proposes an operating robot system that assists polishing tasks in die and mold manufacturing. The proposed system consists of an industrial robot and a joystick. Theoperator manipulates the joystick and remotely moves a tool attached at the hand of the robot. A three-DOF motor-driven joystick was developed, and a force-reflecting bilateralcontroller was constructed in order to realize interactive manual operation. In addition to manual operation, the system can control the contact force of the tool automatically by the force feedback. The operator can use two control modes according to the task. The combination of the manual control and the automatic control enables effective and flexible polishing tasks of objects having complex shape. The developed system was applied to simple polishing tasks. Experimental results show that the tool can be manipulated remotely as if we were handling it directly. Moreover, the results suggest that the system increases the efficiency of polishing tasks remarkably. | |||||
書誌情報 |
新潟工科大学研究紀要 巻 9, p. 1-9, 発行日 2004-12 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 1342-792X | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN10590360 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
出版者 | ||||||
出版者 | 新潟工科大学 |