Robotic force control for deburring using an active end effector
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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.
2012 ◽
Vol 241-244
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pp. 1164-1167
2021 ◽
Vol 2115
(1)
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pp. 012023
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2018 ◽
Vol 2018
(1)
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pp. 176-181
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2017 ◽
Vol 3
(2)
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pp. 363-366
2011 ◽
Vol 133
(6)
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2019 ◽
Vol 234
(1)
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pp. 3-9
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