Journal article
Robotic force control for deburring using an active end effector
Abstract
SUMMARY An active force control system for robotic deburring based on an active end effector is developed. The system utilizes a PUMA-560 six axis robot. The robot's structural dynamics, positioning errors, and the deburring cutting process are examined in detail. Based on ARMAX plant models identified using the least squares method, a discrete PID controller is designed and tested in real-time. The control system is shown to maintain the force …
Authors
Bone GM; Elbestawi MA
Journal
Robotica, Vol. 7, No. 4, pp. 303–308
Publisher
Cambridge University Press (CUP)
Publication Date
10 1989
DOI
10.1017/s0263574700006688
ISSN
0263-5747