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deburring

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Robotic force control for deburring using an active end effector
G. M. Bone, M. A. Elbestawi
Journal:

Robotica / Volume 7 / Issue 4 / October 1989

Published online by Cambridge University Press:

09 March 2009, pp. 303-308
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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.