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Controller Design for Industrial Robots and Machine Tools

Book Description

Advanced manufacturing systems are vital to the manufacturing industry. It is well known that if a target work piece has a curved surface, then automation of the polishing process is difficult. Controller design for industrial robots and machine tools presents results where industrial robots have been successfully applied to such surfaces, presenting up to date information on these advanced manufacturing systems, including key technologies. Chapters cover topics such as velocity-based discrete-time control system for industrial robots; preliminary simulation of intelligent force control; CAM system for an articulated industrial robot; a robot sander for artistic furniture; a machining system for wooden paint rollers; a polishing robot for PET bottle blow moulds; and a desktop orthogonal-type robot for finishing process of LED lens cavity; and concludes with a summary. The book is aimed at professionals with experience in industrial manufacturing, and engineering students at undergraduate and postgraduate level.

  • Presents results where industrial robots have been used successfully to polish difficult surfaces
  • Presents the latest technology in the field
  • Includes key technology such as customized several position and force controllers

Table of Contents

  1. Cover image
  2. Title page
  3. Table of Contents
  4. Copyright
  5. List of figures
  6. List of tables
  7. Preface
  8. About the authors
  9. Introduction
  10. Chapter 1: Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots
    1. Abstract:
    2. 1.1 Background
    3. 1.2 Basic Servo System
    4. 1.3 Dynamic simulation
    5. 1.4 In case of fuzzy control
    6. 1.5 In case of neural network
    7. 1.6 Conclusion
  11. Chapter 2: Preliminary simulation of intelligent force control
    1. Abstract:
    2. 2.1 Introduction
    3. 2.2 Impedance model following force control
    4. 2.3 Influence of environmental viscosity
    5. 2.4 Fuzzy environment model
    6. 2.5 Conclusion
  12. Chapter 3: CAM system for articulated-type industrial robot
    1. Abstract:
    2. 3.1 Background
    3. 3.1 Desired trajectory
    4. 3.3 Implementation to industrial robot RV1A
    5. 3.4 Experiment
    6. 3.5 Passive force control of industrial robot RV1A
    7. 3.6 Conclusion
  13. Chapter 4: 3D robot sander for artistically designed furniture
    1. Abstract:
    2. 4.1 Background
    3. 4.2 Feedfoward position/orientation control based on post-process of CAM
    4. 4.3 Hybrid position/force control with weak coupling
    5. 4.4 Robotic sanding system for wooden parts with curved surfaces
    6. 4.5 Surface-following control for robotic sanding system
    7. 4.6 Feedback control of polishing force
    8. 4.7 Feedforward and feedback control of position
    9. 4.8 Hyper CL data
    10. 4.9 Experimental result
    11. 4.10 Conclusion
  14. Chapter 5: 3D machining system for artistic wooden paint rollers
    1. Abstract:
    2. 5.1 Background
    3. 5.2 Conventional five-axis nc machine tool with a tilting head
    4. 5.3 Intelligent machining system for artistic design of wooden paint rollers
    5. 5.4 Experiments
    6. 5.5 Conclusion
  15. Chapter 6: Polishing robot for pet bottle blow molds
    1. Abstract:
    2. 6.1 Background
    3. 6.2 Generation of multi-axis cutter location data
    4. 6.3 Basic Polishing Scheme for a Ball End Abrasive Tool
    5. 6.4 Feedback Control of Polishing Force
    6. 6.5 Feedforward and Feedback Control of Tool Position
    7. 6.6 Update timing of CL data
    8. 6.7 Experiment
    9. 6.8 Conclusion
  16. Chapter 7: Desktop orthogonal-type robot for LED lens cavities
    1. Abstract:
    2. 7.1 Background
    3. 7.2 Limitation of a polishing system based on an articulated-type industrial robot
    4. 7.3 Desktop orthogonal-type robot with compliance controllability
    5. 7.4 Transformation technique of manipulated values from velocity to pulse
    6. 7.5 Desired damping considering the critically damped condition
    7. 7.6 Design of weak coupling control between force feedback loop and position feedback loop
    8. 7.7 Basic experiment
    9. 7.8 Frequency characteristics
    10. 7.9 Application to finishing an LED lens mold
    11. 7.10 Stickslip motion of tool
    12. 7.11 Neural Network-Based Stiffness Estimator
    13. 7.12 Automatic Tool Truing for Long-Time Lapping Process
    14. 7.13 Force Input Device
    15. 7.14 Conclusion
  17. Chapter 8: Conclusion
    1. Abstract:
  18. References
  19. Index