Hostname: page-component-77c89778f8-9q27g Total loading time: 0 Render date: 2024-07-23T10:50:34.289Z Has data issue: false hasContentIssue false
  • English
  • Français

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
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Dornfield, D.A. and Masaki, T., “Acoustic emission feedback for deburring automation”, Modeling and Control of Robotic Manipulators and Manufacturing Processes ASME, DSC-6, 81–89 (1987).Google Scholar
2.Skole, R., “Robot wields powered deburring tool while Scania truck crankshaft rotates” Am. Mach. 118–120 (05, 1985).Google Scholar
3.Gott, R.L., “Automated precision deburring using industrial robots” MSc Thesis, MIT (09, 1985).Google Scholar
4.Plank, G. and Hirtzinger, G., “Controlling a robot's motion speed by a force-torque sensor for deburring problems” Proc. 4th IPAC/IFIP Symp. Informat. Contr. Problems in Mfg. Tech. 97–102 (10 1982).Google Scholar
5.Haefner, K.B., Houpt, P.K., Baker, T.E. and Dausch, M.E., “Real time robotic position/force control for deburring” Robotics: theory and applications, ASME, DSC-3, 73–78 (1986).Google Scholar
6.Stepien, T.M., Sweet, L.M., Good, M.C. and Tomizuka, M., “Control of tool/workpiece contact force with application to robotic deburring” IEEE J. Robotics and Automation RA-3, No. 1, 7–18 (1987).CrossRefGoogle Scholar
7.Kramer, B.M., Bausch, J.J., Gott, R.L. and Dombrowski, D.M., “Robotic deburring” Robotics Computer-Integr. Mfg. 1, No. 3/4365–374 (1984).CrossRefGoogle Scholar
8.Paul, F.W., Getty, T.K. and Thomas, J.D., “Definning of iron castings using a robot positioned chipper” Robotics research and advanced applications 269–278 (ASME, 1982).Google Scholar
9.Zalucky, A. and Hardt, D.E., “Active control of robot structure deflections” Robotics research and advanced applications 83–100 (ASME, 1982).Google Scholar
10.Tlusty, J. and Wegerif, D., “Compensating for deflections of a robot in light machining operations” Robotics: theory and applications ASME, DSC-3, 91–100 (1986).Google Scholar
11.Hollowell, R. and Guile, R., “An analysis of robotic chamfering and deburring” Modeling and control of robotic manipulators and manufacturing processes ASME, DSC-6, 73–79 (1987).Google Scholar
12.Kazerooni, H. and Guo, J., “Direct-drive active compliant end effector” Proc. IEEE Conf. Robotics and Automation,Raleigh, NC. 758–766 (04 1987).Google Scholar
13.Whitney, D.E., “Historical perspective and state of the art in robot force control” Int. J. Robotics Res. 1, No. 1, 3–14 (1987).CrossRefGoogle Scholar
14.Kazerooni, H., “Hybrid force/position control in robotic deburring” Modeling and control of robotic manipulators and manufacturing processes ASME, DSC-6, 55–63 (1987).Google Scholar
15.Kazerooni, H., “Automated robotic deburring using impedance control” IEEE Cont. Syst. mag. 21–25 (02, 1987).Google Scholar
16.Guvenc, L. and Paul, F.W., “A comparison analysis of independant end-effector control methods in robot assisted material removal” Proc. USA-Japan Symp. on Flexible Automation, Minneapolis, Minn. 975–983 (07, 1988).Google Scholar
17.Bone, G.M., “Robotic force control for deburring using an active end effector” M.Eng. Thesis, McMaster U., Hamilton, Ont., Can. (10, 1988).Google Scholar
18.Gillespie, L.K., Robotic Deburring Handbook 2nd edition (SME, Dearborn, Mich., 1987).Google Scholar
19.Goodwin, G.C. and Sin, K.S., Adaptive Filtering, Prediction, and Control (Prentice-Hall, 1984).Google Scholar
20.Kline, W.A., “The prediction of cutting forces and surface accuracy for the end milling process”, (PhD Thesis, U. of III., 1982).Google Scholar
21.Elbestawi, M.A. and Sagherian, R., “Parameter adaptive control in peripheral milling” Int. J. Mach. Tools. Manufact. 27, No. 3, 399–414 (1987).CrossRefGoogle Scholar
22.Isermann, R., Digital Control Systems (Springer-Verlag, Berlin, 1977).Google Scholar