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    Title: Development of a polishing robot system
    Authors: Wang, Y. T.;Wang, C. P.
    Contributors: 淡江大學機械與機電工程學系
    Date: 1999-10
    Issue Date: 2011-10-23 21:39:41 (UTC+8)
    Publisher: IEEE
    Abstract: This paper presents the development of a robot-assisted surface finishing system with an active force controller. The system utilizes a dexterous manipulator to attain the desired position and orientation in 3D space during finishing processes. This single-axis force controller consists of a DC motor and a software observer. The DC motor is attached to the robot wrist and used to actuate a pneumatic hand-grinder. The force 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 force controller includes observing the polishing contact force, applying a desired polishing pressure in the normal direction of the workpiece 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 polishing system is constructed and tested on a Tatung A-530 robot. The experimental results show that the robot-assisted polishing system functions well under a variety of grinding and polishing conditions
    Relation: Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on vol.2, pp.1161-1166
    DOI: 10.1109/ETFA.1999.813120
    Appears in Collections:[機械與機電工程學系暨研究所] 會議論文

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