Title :
Fractal path application in a metal mold polishing robot system
Author :
Mizugaki, Yoshio ; Sakamoto, Masafumi ; Kamijo, Keisuke
Author_Institution :
Dept. of Mech. Eng., Kyushu Inst. of Technol., Kitakyushu, Japan
Abstract :
This paper describes an industrial application of fractal paths in a metal mold polishing robot system. This is characterized by the fact that a fractal curve is suitable to cover a free-form surface uniformly at any complexity due to its plane-filling and self-similar characteristics. Path generation is discussed in terms of the parameter domain of a spline surface and its orthogonal projection. The robot system consists of an articulated industrial robot of 6 d.o.f. and a polishing end-effector with the contact force control. The polishing experiments as to the contact force control and fractal paths are presented.<>
Keywords :
CAD/CAM; force control; fractals; industrial robots; manufacturing computer control; path planning; polishing; splines (mathematics); 6-d.o.f. robot; articulated industrial robot; contact force control; fractal paths; free-form surface; metal mold polishing robot system; orthogonal projection; path generation; plane-filling characteristic; polishing end-effector; self-similar characteristics; spline surface; CADCAM; Computer aided manufacturing; Electrical equipment industry; Force control; Fractals; Gears; Grinding machines; Microcomputers; Robotics and automation; Service robots;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240615
