Realization of Finishing Cuts Under Changing Machining Conditions by Machining Support Robots

2010 ◽  
Author(s):  
Tsuginobu Osada ◽  
Ken’ichi Yano ◽  
Mustapha S. Fofana
Keyword(s):  
Control System ◽  
Support System ◽  
Control Method ◽  
Haptic Device ◽  
Feed Speed ◽  
Bilateral Control ◽  
Precise Control ◽  
Finish Machining ◽  
Machining Conditions ◽  
Finishing Processes

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a control method based on a machining model made up of several components, including tool speed, feed speed of the tool and others, in order to control the robots under conditions in which it is possible to achieve highly accurate machining surfaces. The motion of a slave robot that requires precise control is controlled automatically, and the worker is given the force calculated by this control method. The effectiveness of this system is shown in a machining experiment.

On the Development of a Machining Support System to Improve Surface Finish

2011 ◽  
Author(s):  
Tsuginobu Osada ◽  
Ken’ichi Yano ◽  
Norihiko Kato ◽  
Mustapha S. Fofana
Keyword(s):  
Control System ◽  
Support System ◽  
Surface Finish ◽  
Haptic Device ◽  
Virtual Model ◽  
Bilateral Control ◽  
Binding Force ◽  
Force Signal ◽  
Finishing Processes ◽  
Improve Surface Finish

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. The aim of this research is to develop a finish machining support system. The machining is supported by using a haptic device and controlled by a bilateral control system. Here, we propose a original bilateral controller which have the gain components on the line used to transfer the force signal between master and slave robot. These gains change the binding force between master and slave robot to change the construct of the system. The effectiveness of this system is shown in simulations using haptic device and virtual model of slave robot.

Development of Cutting Support System by Bilateral Control With Variable Connecting Force Between Master and Slave Robot

2012 ◽  
Author(s):  
Tsuginobu Osada ◽  
Norihiko Kato ◽  
Ken’ichi Yano ◽  
Mustapha S. Fofana
Keyword(s):  
Control System ◽  
Support System ◽  
Bilateral Control ◽  
Finishing Processes

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker’s skill. To solve this problem, the bilateral control system is applied to a machining support system. The aim of this research is to develop a machining support system via the bilateral control system which can accept various machining theories and to reflect the operation force into the machining geometry. This system has a construction which makes it possible to change the connecting force between a master and a slave robot based on a symmetrical bilateral controller. This construction is useful to change the feature of a system dynamically according to machining condition. The effect of this system is shown by the experiment results.

Supercavitating Vehicle LSSVM Multiple Intelligent Control

2011 ◽  
Vol 138-139 ◽  
pp. 93-98
Author(s):  
Jia Song ◽  
Xiao Qiang Qi
Keyword(s):  
Control System ◽  
Least Squares ◽  
Intelligent Control ◽  
Control Method ◽  
Support Vector ◽  
Loop Control ◽  
Precise Control ◽  
Supercavitating Vehicle ◽  
Control Scheme ◽  
Adaptive Ability

According to the conditions of supercavitating vehicle stable control problems, the massive uncertain factors caused by reactions between the vehicle and cavity, and the control system real-time request, the paper presents a supercavitating vehicle stable navigation least squares support vector multiple intelligent control scheme. The scheme makes full use of the nonlinear mapping ability, self-learning adaptability and parallel information processing of the least squares support vector machine. Combining with fuzzy control method, complementary advantages, the closed-loop control has been formed. The simulation shows that the control system has good adaptive ability and robustness. The supercavitating movement stability and precise control realizes even in the situation that difficult to obtain an accurate model.

Analysis of Machining Disturbance and Development of a Support System for the Finishing Process

2009 ◽  
Author(s):  
Daiki Sakito ◽  
Yasushi Yasuda ◽  
Tsuginobu Osada ◽  
Ken’ichi Yano
Keyword(s):  
Contact Force ◽  
Support System ◽  
Control Method ◽  
Force Sensor ◽  
Tangential Direction ◽  
Friction Torque ◽  
Normal Direction ◽  
Haptic Device ◽  
Sensor Output ◽  
Finishing Process

In this paper we address the development of a finish machining support system that can operate without machining mistakes for the limited production of diversified products. The machining is supported by a haptic device. One challenge is that it is necessary to separate the force sensor output that exists in the operation force from the machining influence force. We propose a control method to remove the influence of the rotation tool disturbance force from the operation force by using adaptive modeling, which estimates the force of rotation tool friction torque in the tangential direction of the machining side from the contact force in the normal direction of the machining side. The effectiveness of this research is shown by a machining experiment.

Design of Master's Position Controller for Bilateral Control System with Time Delay

2015 ◽  
Vol 135 (3) ◽  
pp. 268-275 ◽  
Author(s):  
Daisuke Yashiro ◽  
Tadashi Hieno ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Time Delay ◽  
Bilateral Control ◽  
Position Controller ◽  
System With Time Delay

Control of coagulation process by dual wavelength article analyzer

1997 ◽  
Vol 36 (4) ◽  
pp. 135-142 ◽  
Author(s):  
Norihito Tambo ◽  
Yoshihiko Matsui ◽  
Ken-ichi Kurotani ◽  
Masakazu Kubota ◽  
Hirohide Akiyama ◽  
...  
Keyword(s):  
Water Quality ◽  
Control System ◽  
Predictive Control ◽  
Control Method ◽  
Feedforward Control ◽  
Raw Water ◽  
Floc Size ◽  
Coagulation Process ◽  
Series Of Experiments ◽  
Size Data

A coagulation process for water purification plants mainly uses feedforward control based on raw water quality and empirical data and requires operator's help. We developed a new floc sensor for measuring floc size in a flush mixer to be used for floc control. A control system using model predictive control was developed on the floc size data. A series of experiments was performed to confirm controllability of settled water quality by controlling flush mixer floc size. An automatic control with feedback from the coagulation process was evaluated as practical and reliable. Finally this new control method was applied for actual plant and evaluated as practical.

Independent wheel control system design for highly automated driving

2021 ◽  
pp. 095440702110065
Author(s):  
Shihuan Li ◽  
Lei Wang
Keyword(s):  
Control System ◽  
Control Method ◽  
Autonomous Driving ◽  
Control System Design ◽  
Steering Control ◽  
Automated Driving ◽  
Accuracy And Precision ◽  
Actual Observation ◽  
Control Scheme ◽  
Interference Measurement

For L4 and above autonomous driving levels, the automatic control system has been redundantly designed, and a new steering control method based on brake has been proposed; a new dual-track model has been established through multiple driving tests. The axle part of the model was improved, the accuracy of the transfer function of the model was verified again through acceleration-slide tests; a controller based on interference measurement was designed on the basis of the model, and the relationships between the controller parameters was discussed. Through the linearization of the controller, the robustness of uncertain automobile parameters is discussed; the control scheme is tested and verified through group driving test, and the results prove that the accuracy and precision of the controller meet the requirements, the robustness stability is good. Moreover, the predicted value of the model fits well with the actual observation value, the proposal of this method provides a new idea for avoiding car out of control.

scholarly journals Electromagnetic Actuator System Using Witty Control System

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 65
Author(s):  
Der-Fa Chen ◽  
Shen-Pao-Chi Chiu ◽  
An-Bang Cheng ◽  
Jung-Chu Ting
Keyword(s):  
Control System ◽  
Control Method ◽  
Search Algorithm ◽  
Electromagnetic Actuator ◽  
Control Performance ◽  
Learning Capability ◽  
Learning Rates ◽  
Agricultural Applications ◽  
Actuator System ◽  
Rice Milling

Electromagnetic actuator systems composed of an induction servo motor (ISM) drive system and a rice milling machine system have widely been used in agricultural applications. In order to achieve a finer control performance, a witty control system using a revised recurrent Jacobi polynomial neural network (RRJPNN) control and two remunerated controls with an altered bat search algorithm (ABSA) method is proposed to control electromagnetic actuator systems. The witty control system with finer learning capability can fulfill the RRJPNN control, which involves an attunement law, two remunerated controls, which have two evaluation laws, and a dominator control. Based on the Lyapunov stability principle, the attunement law in the RRJPNN control and two evaluation laws in the two remunerated controls are derived. Moreover, the ABSA method can acquire the adjustable learning rates to quicken convergence of weights. Finally, the proposed control method exhibits a finer control performance that is confirmed by experimental results.

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