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Development of Cutting Support System by Bilateral Control With Variable Connecting Force Between Master and Slave Robot

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

Mie University, Tsu, Mie, Japan

Mustapha S. Fofana

Worcester Polytechnic Institute, Worcester, MA

Paper No. IMECE2012-87354, pp. 167-172; 6 pages
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 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. To solve this problem, the bilateral control system is applied to a machining support system. The aim of this research is to develop a machining support system via the bilateral control system which can accept various machining theories and to reflect the operation force into the machining geometry. This system has a construction which makes it possible to change the connecting force between a master and a slave robot based on a symmetrical bilateral controller. This construction is useful to change the feature of a system dynamically according to machining condition. The effect of this system is shown by the experiment results.

Copyright © 2012 by ASME
Topics: Robots , Cutting



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