This paper deals with sensors and control technologies of a robot for deburring castings. Conventional robotic operations such as play back of positions or numerical control are not adaptable to deburring processes because : • Size and location of burrs vary among workpieces ; • Force is applied to the arms of the robot during deburring ; • There is the fear that the tool might cut into the master body of castings. This paper discusses how to use sensors : • for detection of shape and location of burrs ; • for measurement of force applied to the deburring tool ; and • for monitoring of surface of casting during deburring. This paper also describes a variable structure system (VSS) of control which enables the deburring tool to clean the surface of castings within the required degree of accuracy, and at the same time to keep the surface from damage by the use of signals from the sensors.
We introduce the Interactive Modeling Support System (IMSS) that is a highly user-friendly software to develop mathematical models in systems analytic research. The system IMSS utilizes graphical information effectively to facilitate not only human-computer communication but also interpersonal communication. As an application of using IMSS, we present the process of identifying an environmental prediction model. It is emphasized that IMSS greatly reduces the burden of trial and errors necessary in developing such a model, and helps us think about the problem systematically and intensively.
In order to investigate the practical aspect of a series of constrained control laws proposed by the present authors, an experimental examination using a servomechanism as a controlled object has been done. The control laws are as follows : (i) linear control, using an admissible gain, (ii) variable gain feedback control, (iii) relay control via the gain satisfying the Popov condition, and (iv) relay control for a quadratic performance index. The results of the experiment have shown high performance of Controls (ii), (iii) and (iv). Control (i) is not effective, because of the dead zone in the servo system. These control laws are so simple that the sampling time for Direct Digital Control can be 30-70 ms when using the interpreter-type BASIC program on a 16-bit personal computer (the clock frequency of CPU is 10 MHz).
This paper discusses a position compensation method for an outdoor robot vehicle with a dead-reckoning system by using laser and corner cube reflector. In this system two corner cubes are set on both sides of a commanded path of the vehicle, and four laser transceiver units are mounted on the vehicle. The moving distances of the vehicle are measured successively when each laser emitted from the laser transceiver unit hits the corner cube. The accurate position and heading of the vehicle are determined by the triangulation principle based on the above measuring data, and are applied to correct the error accumulated by a dead-reckoning system. The results using our proto-type experimental system and the simulation results are shown with some discussions about the feasibility of real system using this method.