Development of a Robot-Polishing System. Polishing Force Control by Means of Fuzzy Set Theory.

摘要

Recently, the automated system for the polishing process of metal molds has become important. For polishing metal molds, the surface dimensions must be known by the control process before polishing. In order to increase the productivity in the polishing process of metal molds, a polishing robot which includes an on-line constant force control system is proposed in this study. A 6-axis force sensor is installed in the polishing tool which is itself mounted on the robot arm. The direction of the normal vector of the mold surface is determined from the three components of the measured polishing forces. Fuzzy theory is applied to control the movement of the polishing robot.