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Controller Design for Industrial Robots and Machine Tools: Applications to Manufacturing Processes de F Nagata

Controller Design for Industrial Robots and Machine Tools: Applications to Manufacturing Processes

Autor F Nagata, K Watanabe
en Limba Engleză Hardback – 29 sep 2013
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
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Specificații

ISBN-13: 9780857094629
ISBN-10: 0857094629
Pagini: 260
Dimensiuni: 156 x 234 x 16 mm
Greutate: 0.54 kg
Ediția:New.
Editura: ELSEVIER SCIENCE

Cuprins

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