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Robotic force control for deburring using an active end effector

Published online by Cambridge University Press:  09 March 2009

G. M. Bone  and
M. A. Elbestawi
G. M. Bone
Affiliation:
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, CanadaL8S 4L7
M. A. Elbestawi
Affiliation:
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, CanadaL8S 4L7
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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 within l N of the reference, and reduce chamfer depth errors to 0.12 mm from the 1 mm possible without closed-loop control.

Keywords

DeburringEnd EffectorRobot ControlClosed-loop
Type
Research Article
Information
Robotica , Volume 7 , Issue 4 , October 1989 , pp. 303 - 308
Copyright
Copyright © Cambridge University Press 1989

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