Paper Info
Title
Teaching and control of robot contour-tracking using contact point detection
Abstract
New methods for teaching and controlling contour-tracking tasks based on contact sensing are developed to improve robotic machining. Accurate contact point detection is introduced to estimating a work contour path with high reliability. These teaching methods reduce the effort for task teaching and improve adaptability to handle changes in task specifications without re-teaching. Real-time contour tracking control using this contact sensing to suppress work uncertainties in process is presented. Experimental results for practical grinding tasks using a 6 DOF manipulator validate our methods
Year
DOI
Venue
1994
10.1109/ROBOT.1994.351408
Journal of the Robotics Society of Japan
Keywords
Field
DocType
robotic machining,work contour path estimation,contact point detection,contour-tracking teaching,robot contour-tracking,robot programming,6-d.o.f. manipulator,real-time contour tracking control,industrial robots,machining,reliability,manufacturing computer control,position control,adaptability,grinding,real time,robot control,uncertainty,educational robots,teaching methods
Adaptability,Robot control,Computer vision,Work in process,Manipulator,Machining,Control engineering,Artificial intelligence,Engineering,Educational robotics,Robot,Grinding
Conference
Volume
Issue
ISSN
15
5
1050-4729
ISBN
Citations 
PageRank 
0-8186-5330-2
2
0.38
References 
Authors
4
2
Name
Order
Citations
PageRank
Shin-yo Muto1546.32
Ken-ichiro Shimokura2265.31