羽根車研削ロボットシステムの開発およびジャイロモーメント補償形コンプライアンス制御

概要

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A grinding robot system for casted pieces has been developed. The tasted piece grinding requires it to grind the curved surface in narrow area without burning and to follow the casted surface having no precise shape. According to these requisities, the system has been developed with devices which control grinding pressure through a model based compliance control and generate grinding path automatically after getting some design parameters of the work.<BR>Next, this paper describes a gyro-moment compensated compliance control. The pot shaped grinder used in this system has large angular momentum, so a gyromoment occurs on it due to robot motion. As the force sensor on the robot detects this moment as an external moment, the robot cannot generate suitable mechanical compliance for the tool. Therefore, we have introduced a new method which can compensate model based compliance control for any effects caused by gyro moment.<BR>Finally, we have proved the effectiveness of the system compared with human grinding work. This system is now applied to a manufacturing process of impellers and turbine blades.
1996-04-15