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.
Development of Cutting Support System by Bilateral Control With Variable Connecting Force Between Master and Slave Robot
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Osada, T, Kato, N, Yano, K, & Fofana, MS. "Development of Cutting Support System by Bilateral Control With Variable Connecting Force Between Master and Slave Robot." Proceedings of the ASME 2012 International Mechanical Engineering Congress and Exposition. Volume 4: Dynamics, Control and Uncertainty, Parts A and B. Houston, Texas, USA. November 9–15, 2012. pp. 167-172. ASME. https://doi.org/10.1115/IMECE2012-87354
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