On the Development of a Machining Support System to 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.

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

ASME 2010 Dynamic Systems and Control Conference, Volume 2 ◽

10.1115/dscc2010-4110 ◽

2010 ◽

Cited By ~ 2

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.

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

Volume 4: Dynamics, Control and Uncertainty, Parts A and B ◽

10.1115/imece2012-87354 ◽

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.

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