Desktop orthogonal-type robot for LED lens cavities
作者： Fusaomi Nagata , Keigo Watanabe
DOI: 10.1533/9780857094636.163
关键词:
摘要: In this chapter, a desktop-size orthogonal-type robot with compliance controllability is developed to finish an axis-asymmetric workpiece multiple small concave areas. Elemental technologies such as the transformation of manipulated values from velocity pulse, desired damping considering critically damped condition, weak coupling control method between force and position feedback loops, stick-slip motion method, neural network-based stiffness estimator, automatic truing thin wood-stick tool for long-time lapping process, input device manual operation are explained in detail. The finishing performance proposed evaluated through experiments LED lens cavity areas 4.0 mm.
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