제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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- Pages.663-668
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- 1989
A variable-speed deburring robot using the repetitive control
- Kimura, Yoichi (Equipment Design Development Lab., Hitachi Metals, Ltd.) ;
- Mukai, Ryoji (Equipment Design Development Lab., Hitachi Metals, Ltd.) ;
- Kobayashi, Fuminori (Faculty of Computer ScienceandSistem Eng., Kyushu Institute of Technology)
- 발행 : 1989.10.01
초록
Control methods to achieve efficient and accurate deburring robots are proposed. For efficiency, cutting speed is controlled adoptively with the cutting load. For accuracy, it adopts repetitive control. Since usual repetitive control cannot afford dynamical speed changes, the proposed method controls in an interpolating manner using several waveforms stored in the controller. Successful experimental results axe shown.
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