Paper Info
Title
Instrumentation Of A Hand-Held Power Tool For Capturing Dynamic Interaction During Finishing Tasks
Abstract
Implementing human like performance in industrial applications is a challenging task. This paper presents a concept to capture the relationship between a grinding tool and a workpiece for future robotic implementation. A grinding tool has been instrumented with force sensors to measure 3D forces and torques, and consequently the contact point and its features have been studied during a grinding task. The results show that the contact point between the tool and the workpiece can be precisely estimated and the results have been validated using 3D motion capture. The contact point and the contact ellipses have been traced on a workpiece. The results of this study are promising and the proposed algorithms and features of the tool can be implemented in a variety of applications. In the near future instrumented tools may be used by robots during industrial tasks in order to improve their performance and allow constant feedback based on the contact point and 3D forces.
Year
Venue
Keywords
2016
2016 6TH IEEE INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)
grinding, instrumented tool, robotics, geometry of contact
Field
DocType
ISSN
Motion capture,Torque,Control engineering,Engineering,Robot,Ellipse,Grinding,Power tool,Instrumentation
Conference
2155-1782
Citations 
PageRank 
References 
0
0.34
0
Authors
5
Name
Order
Citations
PageRank
Gia-Hoang Phan100.34
Clint Hansen203.04
P. Tommasino3125.44
Asif Hussain443.57
Domenico Campolo59121.36