An Approach to Automated Deburring by Robot Manipulators

1986 ◽  
Vol 108 (4) ◽  
pp. 354-359 ◽  
Author(s):  
H. Kazerooni ◽  
J. J. Bausch ◽  
B. M. Kramer
Keyword(s):  
Process Control ◽  
Control Problem ◽  
Frequency Domain ◽  
Control Strategy ◽  
Closed Loop ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Automated System ◽  
Working Together ◽  
Tangential Forces

The deburring process of manufactured parts has been investigated theoretically and experimentally as a frequency domain control problem with special regard to application by industrial robot manipulators. A new control strategy has been developed for precision deburring to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. Compliant tool-holders, designed according to the above control strategy, provide the required normal and tangential forces for deburring. A servo positioning table used to holds parts, has been considered in this study to compensate for robot oscillations up to 80 percent. The robot, the compliant tool-holder, and the servo positioning table, working together with a closed-loop process control, form a new automated system that deburrs manufactured parts.

A vision-based, impedance control strategy for industrial robot manipulators

2010 ◽  
Author(s):  
Isela Bonilla ◽  
Emilio J González-Galván ◽  
César Chávez-Olivares ◽  
Marco Mendoza ◽  
Ambrocio Loredo-Flores ◽  
...  
Keyword(s):  
Control Strategy ◽  
Impedance Control ◽  
Robot Manipulators ◽  
Industrial Robot

scholarly journals Double Closed-Loop Compound Control Strategy for Magnetic Liquid Double Suspension Bearing

Processes ◽  
2021 ◽  
Vol 9 (7) ◽  
pp. 1195
Author(s):  
Jianhua Zhao ◽  
Yongqiang Wang ◽  
Xuchao Ma ◽  
Sheng Li ◽  
Dianrong Gao ◽  
...  
Keyword(s):  
Control Strategy ◽  
Electromagnetic Force ◽  
Closed Loop ◽  
Static Characteristic ◽  
Magnetic Liquid ◽  
Initial Current ◽  
Electromagnetic System ◽  
Initial Flow ◽  
Hydrostatic Force ◽  
Position Feedback

As a new type of suspension bearing, the magnetic liquid double suspension bearing (MLDSB) is mainly supported by electromagnetic suspension and supplemented by hydrostatic support. At present, the MLDSB adopts the regulation strategy of “electromagnetic-position feedback closed-loop, hydrostatic constant-flow supply” (referred to as CFC mode). In the equilibrium position, the external load is carried by the electromagnetic system, and the hydrostatic system produces no supporting force. Thus, the carrying capacity and supporting stiffness of the MLDSB can be reduced. To solve this problem, the double closed-loop control strategy of “electromagnetic system-force feedback inner loop and hydrostatic-position feedback outer loop” (referred to as DCL mode) was proposed to improve the bearing performance and operation stability of the MLDSB. First, the mathematical models of CFC mode and DCL mode of the single DOF supporting system were established. Second, the real-time variation laws of rotor displacement, flow/hydrostatic force, and regulating current/electromagnetic force in the two control modes were plotted, compared, and analyzed. Finally, the influence law of initial current, flow, and controller parameters on the dynamic and static characteristic index were analyzed in detail. The results show that compared with that in CFC mode, the displacement in DCL mode is smaller, and the adjustment time is shorter. The hydrostatic force is equal to the electromagnetic force in DCL mode when the rotor returns to the balance position. Moreover, the system in DCL mode has better robustness, and the initial flow has a more obvious influence on the dynamic and static characteristic indexes. This study provides a theoretical basis for stable suspension control and the safe and reliable operation of the MLDSB.

scholarly journals Measurement and Process Control in Precision Hot Embossing

2013 ◽  
Author(s):  
Maia R. Bageant ◽  
David E. Hardt
Keyword(s):  
Process Control ◽  
Material Properties ◽  
Disturbance Rejection ◽  
Closed Loop ◽  
Hot Embossing ◽  
Commercial Production ◽  
Bulk Deformation ◽  
Functional Tests ◽  
Medical Field ◽  
High Degree

Microfluidic technologies hold a great deal of promise in advancing the medical field, but transitioning them from research to commercial production has proven problematic. We propose precision hot embossing as a process to produce high volumes of devices with low capital cost and a high degree of flexibility. Hot embossing has not been widely applied to precision forming of hard polymers at viable production rates. To this end we have developed experimental equipment capable of maintaining the necessary precision in forming parameters while minimizing cycle time. In addition, since equipment precision alone does not guarantee consistent product quality, our work also focuses on real-time sensing and diagnosis of the process. This paper covers both the basic details for a novel embossing machine, and the utilization of the force and displacement data acquired during the embossing cycle to diagnose the state of the material and process. The precision necessary in both the forming machine and the instrumentation will be covered in detail. It will be shown that variation in the material properties (e.g. thickness, glass transition temperature) as well as the degree of bulk deformation of the substrate can be detected from these measurements. If these data are correlated with subsequent downstream functional tests, a total measure of quality may be determined and used to apply closed-loop cycle-to-cycle control to the entire process. By incorporating automation and specialized precision equipment into a tabletop “microfactory” setting, we aim to demonstrate a high degree of process control and disturbance rejection for the process of hot embossing as applied at the micron scale.

A Control Strategy for Intelligent Stamp Forming Tooling

2011 ◽  
Vol 133 (6) ◽  
Author(s):  
William J. Emblom ◽  
Klaus J. Weinmann
Keyword(s):  
Fuzzy Logic ◽  
Control Systems ◽  
Control Strategy ◽  
Pid Controller ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Linear Quadratic ◽  
Blank Holder ◽  
Loop Control ◽  
Stamp Forming

This paper describes the development and implementation of closed-loop control for oval stamp forming tooling using MATLAB®’s SIMULINK® and the dSPACE®CONTROLDESK®. A traditional PID controller was used for the blank holder pressure and an advanced controller utilizing fuzzy logic combining a linear quadratic gauss controller and a bang–bang controller was used to control draw bead position. The draw beads were used to control local forces near the draw beads. The blank holder pressures were used to control both wrinkling and local forces during forming. It was shown that a complex, advanced controller could be modeled using MATLAB’s SIMULINK and implemented in DSPACE CONTROLDESK. The resulting control systems for blank holder pressures and draw beads were used to control simultaneously local punch forces and wrinkling during the forming operation thereby resulting in a complex control strategy that could be used to improve the robustness of the stamp forming processes.

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