Shiyuki Sakaue

Development of an impeller grinding robot system and a gyro-moment compensated compliance control

A grinding robot system for casted pieces has been developed. The system applies the compliance control to a manufacturing process. The casted piece grinding requires it to grind the curved surface in tight area without burning and to follow the casted surface having no precise shape. A new model based compliance control has been developed that compensates a gyro-moments which occurs in the robot grinding tool by the robot motion. Previously, the robot could not generate a suitable mechanical compliance because the force sensor on the robot detected this moment as a part of the controlled pressure in grinding. This system is now applied to a manufacturing process of impellers and turbine blades.

Path generation by rate control of manipulators

Abstract This paper proposes a real-time control algorithm, in which both the actual errors of position and of orientation are fed back to the control value calculated for each sampling time. This paper also defines the distance between two orientations, and presents a set of formulas for orientational error using quaternions. An algorithm using screw algebra is developed for the real-time computation of joint velocities. Finally, the accuracy of trajectory control using this algorithm is studied experimentally.