Generation of Normalized Tool Vector from 3-Axis CL Data and Its Application to a Mold Polishing Robot

Abstract

In this paper, a generation technique of normalized tool vectors from 3-axis cutter location data (CL data) is proposed. The CL data with normal vectors are referred as not only the desired trajectory of tool's translational motion but also the force direction to be given to molds. In other words, the CL data allow the polishing robot based on an industrial robot to realize a teaching-less operation of motion and force. The proposed robot also controls the polishing force which consists of the contact and kinetic friction forces. The effectiveness and promise of the proposed robot have been proved by actual polishing experiments using an aluminum mold with curved surface.