Polishing robot for pet bottle blow molds
作者： Fusaomi Nagata , Keigo Watanabe
DOI: 10.1533/9780857094636.141
关键词:
摘要: In this chapter, a CAD/CAM-based position/force controller in Cartesian space is presented for mold polishing robot. CL data with normal vectors are referred to as not only the desired trajectory of tool translational motion but also contact direction given surface, so that complete non-taught operation both position and can be realized. The regulates force consisting kinetic friction forces. When robot carries out tasks, control loop delicately contributes achieve regular pick feed along stable on curved surface. effectiveness promise proved by actual experiments using an industrial YASKAWA MOTOMAN UP6.
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