Journal article
Force Control for Robotic Deburring
Abstract
An active end effector based force control system for robotic deburring is successfully implemented using a PUMA-560 robot. The system goal of a controlled chamfer depth with minimum surface roughness is achieved by minimizing the normal chamfering force variance online. Several force control algorithms are evaluated based on this objective. The control laws are designed based on models combining a deterministic plant with a stochastic …
Authors
Bone GM; Elbestawi MA; Lingarkar R; Liu L
Journal
Journal of Dynamic Systems Measurement and Control, Vol. 113, No. 3, pp. 395–400
Publisher
ASME International
Publication Date
September 1, 1991
DOI
10.1115/1.2896423
ISSN
0022-0434