428 サスペンションシステムを利用した低出力ロボットアームによる研削(OS12 研削・砥粒加工)

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概要

• 論文の詳細を見る

• In the vertical plane, robotic grinding is very difficult because it requires a big actuator torque due to the enormous gravity force effect of the tools and the robot-arm. A new grinding strategy has been developed for a low power robot-arm in the vertical plane using a suspension system, where the lifting force of spring balancer compensates the gravity force of the tools and the robot-arm. For robotic grinding, to achieve position and force tracking simultaneously, this paper shows the hybrid position/force control strategy with respect to the dynamic behavior of spring balancer. The effectiveness of the proposed method is shown by simulation and experiments using a 2 DOF robot with a suspension system in the vertical plane.

• 一般社団法人日本機械学会の論文
• 2001-11-20

著者

• Uddin Mohammad

  Saitama University

• NASU Yasuo

  Yamagata University

• Nasu Yasuo

  Faculty of Engineering, Yamagata University

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• 428 サスペンションシステムを利用した低出力ロボットアームによる研削(OS12 研削・砥粒加工)

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