Skip to main content
SpringerLink
Log in

Intelligent desktop NC machine tool with compliant motion capability

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

In this paper, a new desktop NC machine tool with compliance control capability is presented for finishing metallic molds with small curved surface. The NC machine tool consists of three single-axis robots. Tools attached to the tip of the z-axis are ball-end abrasive tools. The control system of the NC machine tool is composed of a force feedback loop, position feedback loop and position feed-forward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction force. The position feedback loop controls the position in pick feed direction. Further, the position feed-forward loop leads the tool tip along cutter location data. In order to first confirm the application limit of a conventional industrial robot to a finishing task, we evaluate the backlash that causes the position inaccuracy at the tip of an abrasive tool, through a simple position/force measurement. Through a similar measurement and a surface following control experiment along a lens mold, the basic position/force controllability with high resolutions is demonstrated.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Nakajima S (2006) Robotization of metallic mold polishing process (in Japanese). Plastics 57(12):39–42

    Google Scholar 

  2. Arai Y (2006) Robotic metal spinning: forming non-axisymmetric products using force control (in Japanese). J Robotics Jpn 24(1):140–145

    MathSciNet  Google Scholar 

  3. Nagata F, Hase T, Haga Z, et al (2007) CAD/CAM-based position/force controller for a mold polishing robot. Mechatronics 17(4–5):207–216

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electronics and Computer Science, Tokyo University of Science, 1-1-1 Yamaguchi Daigaku-Dori, Sanyo-Onoda, 756-0884, Japan

    Fusaomi Nagata

  2. R&D Center, Meiho Co. Ltd., Fukuoka, Japan

    Tetsuo Hase, Zenku Haga & Masaaki Omoto

  3. Graduate School of Science and Engineering, Saga University, Saga, Japan

    Keigo Watanabe

Authors
  1. Fusaomi Nagata
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Tetsuo Hase
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zenku Haga
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Masaaki Omoto
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Keigo Watanabe
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Fusaomi Nagata.

Additional information

This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008

About this article

Cite this article

Nagata, F., Hase, T., Haga, Z. et al. Intelligent desktop NC machine tool with compliant motion capability. Artif Life Robotics 13, 423–427 (2009). https://doi.org/10.1007/s10015-008-0567-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-008-0567-8

Key words

Search

Navigation