Feedback control method for deburring robot

Abstract

Abstract PURPOSE:To deburr in a good state even if projecting materials exist, by giving virtual mass, spring constant, and viscosity constant to a hand and a deburring tool as parameters which control the motion characteristics. CONSTITUTION:A deburring tool 3 is held on the front end of an arm 1 through a force-torque sector 4 and a hand 2, and the tool 3 is moved while being brought into contact with and following up an object 5 to cut off burrs. Virtual mass, spring constant, and viscosity constant are given to the hand 2 and the tool 3, and a speed command value for current sampling control is obtained on a basis of these constants, a sampling control period, a force-torque feedback signal of one sampling before from the force-torque sensor 4, and the deviation of positional attitudes of the hand 2 and the tool 3 from a reference positional attitude command of one sampling before from the external. This speed command value is converted to joint angular velocity between arms.

Inventors

• 👤 Hisaaki Hirabayashi
• 👤 平林　久明
• 👤 Shunichi Owada
• 👤 大和田　俊一
• 👤 Koichi Sugimoto
• 👤 浩一 杉本

Bibliographic Details