Abstract
In this chapter, a desktop-size orthogonal-type robot with compliance controllability is developed to finish an axis-asymmetric workpiece with multiple small concave areas. Elemental technologies such as the transformation of manipulated values from velocity to pulse, desired damping considering the critically damped condition, weak coupling control method between force and position feedback loops, stick-slip motion control method, neural network-based stiffness estimator, automatic truing of a thin wood-stick tool for long-time lapping process, and force input device for manual operation are explained in detail. The finishing performance of the proposed orthogonal-type robot is evaluated through finishing experiments of an LED lens cavity with multiple small concave areas of 4.0mm.
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