Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
권호 표지
DOI QR코드

DOI QR Code

Appling of Force Control of the Robotic Sweeping Machine for Grinding

연마작업을 위한 로봇형 연마기의 힘제어 적용

  • Jin, Taeseok (Department of Mechatronics Engineering, Dongseo University)
  • Received : 2013.10.16
  • Accepted : 2014.01.10
  • Published : 2014.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

In this research, we describe a force feedback control for industrial robots has been proposed as a system which is suitable to work utilizing pressure sensitive alternative to human. Conventionally, polished surface of the workpiece are recognized, chamfer ridge, machining processes such as deburring, and it is most difficult to automate because of its complexity, has been largely dependent on the human. To aim to build automatic vacuum system robotic force control was gripping the grinding tool, the present study we examined the adaptability to the polishing process to understand the characteristics of the control system feedback signal obtained from the force sensor mainly. Furthermore, as a field, which holds the key to the commercialization, I went ahead with the application to robotic sweeping machine. As a result, the final sweeping utilizing a robot machine to obtain a very good grinded surface was revealed.

본 논문은 산업용 로봇을 위한 힘 피드백 제어는 사람의 감각을 기반으로 한 작업을 대체하여 구현하기에 적합한 연마 시스템을 제안하였다. 기존 연마작업의 표면 연마, 비드처리, 기계 가공 디버링 등의 공정은 그 복잡성에서 자동화가 가장 곤란하다고 인식되어 주로 인력에 의존 해왔다. 본 연구에서는 연마 공구를 파지시킨 힘 제어 로봇에 의한 자동 연마 시스템의 구축과 힘 센서로부터 신호 피드백 제어 방식의 특성 파악과 연마 공정에 적응성을 검증했다. 또한 실용화를 목적을 위한 선박의 바닥 및 측면 연마에의 응용을 진행했다. 따라서 자체 제작한 연마로봇을 활용 한 표면 연마작업을 통하여 실험결과를 검증하였다.

Keywords

References

  1. X. Ren, B. Kuhlenkotter, H. Muller. "Simulation and verification of belt grinding with industrial robots," Machine Tools & Manufacture, vol. 46, pp. 708-715, 2006. https://doi.org/10.1016/j.ijmachtools.2005.07.033
  2. Yunquan Sun, David J. Giblin, Kazem Kazerounian, "Accurate robotic belt grinding of workpieces with complex geometries using relative calibration techniques," Robotics and Computer-Integrated Manufacturing, vol. 25, pp. 204-210, 2009. https://doi.org/10.1016/j.rcim.2007.11.005
  3. Zhao Yang, Zhao Ji, Zhang Lei, "Robotic blade grinding based on reverse engineering," Journal of Jilin University (Engineering and Technology Edition), vol. 39, no 5, pp.1176-1180, 2009.
  4. Antal K.Bejczy and Won S.Kim, "Predictive Displays and Shared Compliance control for Time-Delayed Telemanipulation" IEEE International Worshop on Intelligent Robots and Systems IROS '90, pp. 407-412, Vol.1, 1990.
  5. Edited by David Clarke, "Advances In Model-Based Preditive Control," Control Engineering University of Oxford, pp.478-482. 1994.
  6. Laurene V. Fausett, "Applied Numerical Analysis Using Matlab", Prentice, 2007.
  7. JINNO Makoto, YOSHIMI Takashi, ABE Akira, "A Study on a Remote-Controlled Grinding Robot System[in Japanese]" Journal of the Robotics Society of Japan, vol. 10, no. 2, pp. 244-253, 1992. https://doi.org/10.7210/jrsj.10.244
  8. NAGATA Fusaomi, WATANABE Keigo, "A Teaching System of Force Control Using a Game Joystick for a Polishing Robot [in Japanese]" Transactions of the Japan Society of Mechanical Engineers, vol. 67, issue 655, pp. 767-774, Mar. 2001.
  9. Narikiyo, T. Kawanishi, M. & Nakagawa, M, "Robust Adaptive Position/Force Control of Mobile Manipulators with Dynamic Uncertainties," in Proceedings of IASTED CA2009, pp.264-269, 2009.
  10. Narikiyo, T. Kawanishi, M. & Mizuno, T, "Robust Adaptive Position/Force Control of Mobile Manipulators with Kinematic and Dynamic Uncertainties,"in Proceedings of ICROS-SICE International Joint Conference, pp. 4704-4709, 2009.

Cited by

  1. 연마로봇의 교시기반 제어에 의한 성능개선 vol.18, pp.7, 2014, https://doi.org/10.6109/jkiice.2014.18.7.1525