Force Control for Robotic Deburring

[+] Author and Article Information
G. M. Bone, M. A. Elbestawi, R. Lingarkar, L. Liu

Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7

J. Dyn. Sys., Meas., Control 113(3), 395-400 (Sep 01, 1991) (6 pages) doi:10.1115/1.2896423 History: Received November 01, 1989; Revised August 01, 1990; Online March 17, 2008


An active end effector based force control system for robotic deburring is successfully implemented using a PUMA-560 robot. The system goal of a controlled chamfer depth with minimum surface roughness is achieved by minimizing the normal chamfering force variance online. Several force control algorithms are evaluated based on this objective. The control laws are designed based on models combining a deterministic plant with a stochastic disturbance which are identified from experimental data. Simulation results are verified by real-time force control experiments. Performance comparisons are made based on the force variance and surface roughness achieved by each controller. The 6 step extended horizon controller is shown to achieve the best overall performance.

Copyright © 1991 by The American Society of Mechanical Engineers
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