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Realization of Finishing Cuts Under Changing Machining Conditions by Machining Support Robots

[+] Author Affiliations
Tsuginobu Osada, Ken’ichi Yano

Gifu University, Gifu, Japan

Mustapha S. Fofana

Worcester Polytechnic Institute, Worcester, MA

Paper No. DSCC2010-4110, pp. 271-276; 6 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 2
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4418-2 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a control method based on a machining model made up of several components, including tool speed, feed speed of the tool and others, in order to control the robots under conditions in which it is possible to achieve highly accurate machining surfaces. The motion of a slave robot that requires precise control is controlled automatically, and the worker is given the force calculated by this control method. The effectiveness of this system is shown in a machining experiment.

Copyright © 2010 by ASME
Topics: Machining , Robots , Finishing



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