Realization of machining support system via bilateral control with machining condition equation

Abstract

Finishing processes such as deburring are performed on a wide variety of products in various quantities by workers on a piece-by-piece basis. Accordingly, the accuracy of the product depends on the worker's skill. To solve this problem, the bilateral control system is applied to machining support. The aim of this research is to develop a finish machining support system via bilateral control system as well. In this research, the bilateral control system for machining support which makes it possible to change the binding force between master and slave robot is proposed based on symmetrical bilateral controller. In addition, the cutting condition equation which consists of machining force, rotation number, feed speed and other components is constructed. This equation is constructed so as to have the common component like feed speed that also the bilateral controller will have as its control object. The system via this equation is able to adjust the change of cutting condition in order to control the robots under conditions in which it is possible to achieve highly accurate machining surfaces. The effectiveness of this system is shown in a experiment results.