1-301 金型の高品位磨きのための軸付砥石のモーション/力制御法

概要

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In this paper, a motion/force control method of mounted abrasive tools is proposed for finishing of metallic molds. When a PET bottle mold with curved surface is polished by the proposed system, the orientation of the mounted abrasive tool is not only fixed but also its revolution is locked. Due to a prepared initial trajectory, i.e. cutter location data, the motion of the mounted abrasive tool is controlled by a feedforward loop action in the direction of position/orientation control, and also feedforwardly controlled in the direction of force control. The surface is polished by the polishing force which consists of a contact force, motion friction and viscous friction acting between the mold and the mounted abrasive tool. The velocity in the normal direction is delicately controlled so that the polishing force can track a desired value. The effectiveness of the proposed method is proved by some experiments using an force controlled industrial robot.
社団法人日本機械学会の論文
2002-11-14