Question

翻译 很急

题目：CAD/CAM-based position/force controller for a mold polishing robot

Industrial robots have been remarkably progressed and applied to various industrial fields. Recently, open architectural industrial robots, whose kinematics and servo control are technically opened, have been developed. Using such a robot we can explore new skillful applications without conventional complicated teaching. For example, a 3D robot sander was proposed for the manufacturing industry of attractively designed furniture [1,2]. The robot sander realized a non-taught operation regarding the position and orientation of the sanding tool attached to the robot arm. At the next stage, we are now trying to apply the robot to the polishing process of PET (Poly Ethylene Terephthalate) bottle molds. In the manufacturing industry of PET bottle molds, 3D CAD/CAM systems and NC machine tools are being used generally and widely, and these advanced systems have drastically rationalized the design and manufacturing process of metallic molds. However, the polishing process after NC machining of PET bottle molds has been hardly automated yet. Consequently we must depend on skilled workers who have capabilities concerning both dexterous force control and skillful trajectory control for an abrasive tool as shown in Fig. 1. The skilled workers usually use mounted abrasive tools with several sizes and shapes. In using these types of tools, keeping contact with
the metallic workpiece with a desired contact force and a tangential velocity is the most important factor to obtain a high quality surface. When performing a polishing task,
it is also a key point that skilled workers reciprocatingly move the abrasive tool back and forth along the object surface.

Answer 1

CAD / CAM的基于位置/力控制的机器人模具抛光

工业机器人已经显着进展，并应用到各个工业领域。最近，开放建筑工业机器人，它的运动学和伺服控制技术开放，已经制定出来。使用这样的机器人，我们可以探索新的教学没有传统的复杂的熟练应用。例如，一个三维砂光机，提出了机器人的设计精美的家具[1,2]制造业。桑德的机器人实现了非教操作方面的地位和连接到机器人手臂的打磨工具的方向。在下一阶段，我们正试图把机器人的PET（聚对苯二甲酸乙二醇酯）瓶模具的抛光工艺。在PET瓶模具制造行业，三维CAD / CAM系统和数控机床被普遍使用和广泛，而这些先进的系统已经大大合理化金属模具的设计和制造工艺。然而，后PET瓶模具数控加工抛光过程一直还难以自动化。因此，我们必须有能力取决于谁关于两个灵巧力控制和熟练的磨具轨迹控制，如图所示的熟练工人。 1。通常使用的技术工人安装有多种尺寸和形状的磨具。在使用这些类型的工具，保持接触
用所需的接触力和切向速度金属工件是最重要的因素，获得高品质的表面。当执行任务抛光，
它也是一个关键点，熟练的工人{ reciprocatingly }沿着物体表面的磨具来 reciprocatingly 这个单词我没见过