Robotic force control for deburring using an active end effector Journal Articles

abstract

• SUMMARYAn 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 within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.

authors

• Bone, Gary Mitchell
• Elbestawi, Mohamed Abdelaziz

status

• published 

publication date

• October 1989

has subject area

• 0801 Artificial Intelligence and Image Processing (FoR)
• 0906 Electrical and Electronic Engineering (FoR)
• 0913 Mechanical Engineering (FoR)
• Industrial Engineering & Automation (Science Metrix)

published in

• Robotica  Journal

keywords

• Robotics
• Science & Technology
• Technology

Digital Object Identifier (DOI)

• 10.1017/s0263574700006688

start page

• 303

end page

• 308

volume

• 7

issue

• 4