Generation of Normalized Tool Vector from 3Axis CL Data and Its Aplication to a Mold Polishing Robot

1
Generation of Normalized Tool Vector from 3-Axis
CL Data and Its Aplication to a Mold Polishing
Robot
F. Nagata1, K. Watanabe2, Y. Kusumoto1, K.
Yasuda3, O. Tsukamoto3, K. Tsuda3, M.
Omoto4, Z. Haga4 and T. Hase4 1Fukuoka
Industrial Technology Center, Japan 2Saga
University, Japan 3ASA SYSTEMS INC., Japan
4MEIHO CO. LTD., Japan

• Multi-axis CL data for the polishing robot are
  automatically generated from 3-axis CL data.
• The multi-axis CL data allow the robot to realize
  a teaching-less operation.
• The robot controls the polishing force consisting
  of the contact and kinetic friction forces.
• In polishing, a position feedback loop has a
  delicate contribution to the force feedback loop
  in Cartesian space.

Polishing Robot based on YASKAWA MOTOMAN UP-6
with Windows API