Controller Design for Industrial Robots and Machine Tools

<p>List of figures</p> <p>List of tables</p> <p>Preface</p> <p>About the authors</p> <p>Introduction</p> <p>Chapter 1: Velocity-based discrete-time control system with intelligent control concepts for openarchitecture industrial robots</p> <p>Abstract:</p> <p>1.1 Background</p> <p>1.2 Basic Servo System</p> <p>1.3 Dynamic simulation</p> <p>1.4 In case of fuzzy control</p> <p>1.5 In case of neural network</p> <p>1.6 Conclusion</p> <p>Chapter 2: Preliminary simulation of intelligent force control</p> <p>Abstract:</p> <p>2.1 Introduction</p> <p>2.2 Impedance model following force control</p> <p>2.3 Influence of environmental viscosity</p> <p>2.4 Fuzzy environment model</p> <p>2.5 Conclusion</p> <p>Chapter 3: CAM system for articulated-type industrial robot</p> <p>Abstract:</p> <p>3.1 Background</p> <p>3.1 Desired trajectory</p> <p>3.3 Implementation to industrial robot RV1A</p> <p>3.4 Experiment</p> <p>3.5 Passive force control of industrial robot RV1A</p> <p>3.6 Conclusion</p> <p>Chapter 4: 3D robot sander for artistically designed furniture</p> <p>Abstract:</p> <p>4.1 Background</p> <p>4.2 Feedfoward position/orientation control based on post-process of CAM</p> <p>4.3 Hybrid position/force control with weak coupling</p> <p>4.4 Robotic sanding system for wooden parts with curved surfaces</p> <p>4.5 Surface-following control for robotic sanding system</p> <p>4.6 Feedback control of polishing force</p> <p>4.7 Feedforward and feedback control of position</p> <p>4.8 Hyper CL data</p> <p>4.9 Experimental result</p> <p>4.10 Conclusion</p> <p>Chapter 5: 3D machining system for artistic wooden paint rollers</p> <p>Abstract:</p> <p>5.1 Background</p> <p>5.2 Conventional five-axis nc machine tool with a tilting head</p> <p>5.3 Intelligent machining system for artistic design of wooden paint rollers</p> <p>5.4 Experiments</p> <p>5.5 Conclusion</p> <p>Chapter 6: Polishing robot for pet bottle blow molds</p> <p>Abstract:</p> <p>6.1 Background</p> <p>6.2 Generation of multi-axis cutter location data</p> <p>6.3 Basic Polishing Scheme for a Ball End Abrasive Tool</p> <p>6.4 Feedback Control of Polishing Force</p> <p>6.5 Feedforward and Feedback Control of Tool Position</p> <p>6.6 Update timing of CL data</p> <p>6.7 Experiment</p> <p>6.8 Conclusion</p> <p>Chapter 7: Desktop orthogonal-type robot for LED lens cavities</p> <p>Abstract:</p> <p>7.1 Background</p> <p>7.2 Limitation of a polishing system based on an articulated-type industrial robot</p> <p>7.3 Desktop orthogonal-type robot with compliance controllability</p> <p>7.4 Transformation technique of manipulated values from velocity to pulse</p> <p>7.5 Desired damping considering the critically damped condition</p> <p>7.6 Design of weak coupling control between force feedback loop and position feedback loop</p> <p>7.7 Basic experiment</p> <p>7.8 Frequency characteristics</p> <p>7.9 Application to finishing an LED lens mold</p> <p>7.10 Stickslip motion of tool</p> <p>7.11 Neural Network-Based Stiffness Estimator</p> <p>7.12 Automatic Tool Truing for Long-Time Lapping Process</p> <p>7.13 Force Input Device</p> <p>7.14 Conclusion</p> <p>Chapter 8: Conclusion</p> <p>Abstract:</p> <p>References</p> <p>Index</p>