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Modeling and control of a new robotic deburring system

Published online by Cambridge University Press:  31 October 2005

Jae H. Chung  and
Changhoon Kim
Jae H. Chung
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, N. J. 07030 (USA)
Changhoon Kim
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Castle Point on Hudson, Hoboken, N. J. 07030 (USA)
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Abstract

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

Keywords

Deburring systemDifferent toolsDouble cutting action
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 229 - 237
Copyright
2005 Cambridge University Press

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