A robot-assisted finishing system with an active torque controller

doi:10.1109/ROBOT.2000.844820

淡江大學機構典藏 > 工學院 > 機械與機電工程學系暨研究所 > 會議論文 > Item 987654321/38215

請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/38215

題名:	A robot-assisted finishing system with an active torque controller
作者:	王銀添;Wang, Y. T.;Jan, Y. J.
貢獻者:	淡江大學機械與機電工程學系
日期:	2000
上傳時間:	2010-04-15 10:43:49 (UTC+8)
出版者:	Institute of Electrical and Electronics Engineers (IEEE)
摘要:	The development of a robot-assisted surface finishing system with an active torque controller is presented in this paper. We utilize a dexterous manipulator to attain the desired position and orientation in three-dimensional space during finishing processes. A single-axis active controller consists of a DC motor and a software observer is attached to the robot wrist and used to actuate a pneumatic hand-grinder The torque observer is designed to sense the grinding contact force based on the driving current and output position of the motor. The function of the active torque controller includes observing the polishing contact force, applying a desired polishing pressure in the normal diffraction of the specimen surface and adjusting the contact angle between the hand-grinder and the surface of the workpiece. In this research, the prototype of a robot-assisted finishing system is constructed and tested on a Tatung A530 robot The experimental results show that the robot-assisted finishing system functions well under a variety of grinding and polishing conditions.
關聯:	Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on (Volume:2 ), p.1568-1573
DOI:	10.1109/ROBOT.2000.844820
顯示於類別:	[機械與機電工程學系暨研究所] 會議論文

文件中的檔案:

檔案	描述	大小	格式	瀏覽次數
0780358864_2p1568-1573.pdf		531Kb	Adobe PDF	625	檢視/開啟
index.html		0Kb	HTML	255	檢視/開啟

在機構典藏中所有的資料項目都受到原著作權保護.

TAIR相關文章

資料載入中.....