Dexterous Polishing of Overhanging Sculptured Surface
with a 6-Axis Control Robot
Dong-Fang GE, Yoshimi TAKEUCHI and Naoki ASAKAWA
Proc. of 1995 IEEE Int. Conf. on Robotics and Automation, pp.2090-2095
The study deals with the generation of 6-axis-control collision-free
polishing command data of an industrial robot with 6-DOF. Workpieces
with，for example, a sheer wall or overhanging curved surface，are
difficult to polish using I-shaped rotational tools，since collision
between the polishing tool and workpiece cannot be avoided. Thus, an
L-shaped type rotational tool consisting of a tool axis and an arm
axis was devised, where the angle of the tool axis to the arm
collision avoidance concept, consisting of two stages, is introduced,
based on CAD/CAM system．The collision-free polishing path generated
is converted into robot control commands for actual polishing work. It
is experimentally found that the system is valid for polishing
workpieces with complicated shape．
[Takeuchi Lab. Home Page]
1996/11/02, by N.Asakawa