A study of flexible setup automation using robot

Author

Choi, S.L. ; Chung, G.J.

Author_Institution

Autom. Control Lab., Korea Inst. of Machinery & Metals, Tae Jun, South Korea

fYear

1997

fDate

29 Sep-1 Oct 1997

Firstpage

40

Lastpage

44

Abstract

In this paper, a method of setup, process automation for machining is presented. Setup is a preprocess that aligns and fixes the target objects on the fixture. Using an industrial robot, an automated setup station system is proposed. As a target object, 8 kinds of moving blocks of LM guide products that requires process of face grinding, drilling, and tapping are selected. A F/T sensor is attached to the robot end-effector to measure the contact force and moment between tool and object

Keywords

force control; force measurement; industrial manipulators; machine tools; machining; torque control; torque measurement; F/T sensor; automated setup station system; contact force measurement; drilling; face grinding; flexible setup automation; industrial robot; machining; process automation; robot end-effector; tapping; Computer networks; Control systems; Fixtures; Humans; Robot control; Robot sensing systems; Robot vision systems; Robotics and automation; Sensor systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Communication, 1997. RO-MAN '97. Proceedings., 6th IEEE International Workshop on

Conference_Location

Sendai

Print_ISBN

0-7803-4076-0

Type

conf

DOI

10.1109/ROMAN.1997.646950

Filename

646950