0
TECHNICAL PAPERS

Robotic Surface Finishing Processes: Modeling, Control, and Experiments

[+] Author and Article Information
Prabhakar R. Pagilla, Biao Yu

School of Mechanical and Aerospace Engineering, Oklahoma State University, Stillwater, OK 74078-5016

J. Dyn. Sys., Meas., Control 123(1), 93-102 (Oct 04, 1999) (10 pages) doi:10.1115/1.1344881 History: Received October 04, 1999
Copyright © 2001 by ASME
Your Session has timed out. Please sign back in to continue.

References

Ramachandran, N., Pande, N., and Ramakrishnan, N., 1994, “The Role of Deburring in Manufacturing: A State-of-the Art Survey,” J. Mater. Process. Technol., 44 .
Proctor, F. M., and Murphy, K. N., 1989, “Advanced Deburring System Technology,” Keynote Address at the ASME Winter Annual Meeting, San Francisco, CA.
Komanduri,  R., Merchant,  M. E., and Shaw,  M. C., 1993, “Symposium on US Contributions to Machining and Grinding Research in the 20th Century,” NSF Sponsored Symposium (Organizer: R. Komanduri), Appl. Mech. Rev., 46, No. 3.
Stouffer, K. A., Russel, R., Jr., Archacki, R., Engel, T., Dansereau, R., and Grot, A., 1997, “Advanced Deburring and Chamfering System (ADACS): Final Report,” NIST Technical Report NISTIR 5915.
Koelsch, J. R., 1990, “Banish Manual Deburring,” Manuf. Eng., pp. 71–75.
Erickson, E. G., 1991, “Automated Robotic Deburring Produces Quality Components,” Automation, March, pp. 50–51.
Dornfeld, D. A., 1995, “Consortium on Deburring and Edge Finishing (CODEF) News,” Laboratory for Manufacturing Automation, University of California, Berkeley, CA.
Kazerooni,  H., 1988, “Robotic Deburring of Two-dimensional Parts with Unknown Geometry,” J. Manuf. Syst., 7, No. 4, pp. 329–338.
Bone,  G. M., Elbestawi,  M. A., Lingarkar,  R., and Liu,  L., 1991, “Force Control of Robotic Deburring,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 395–400.
Whitney,  D. E., 1977, “Force Feedback Control of Manipulators,” ASME J. Dyn. Syst., Meas., Control, 102, pp. 91–97.
Raibert,  M. H., and Craig,  J. J., 1981, “Hybrid Position/Force Control of Manipulators,” ASME J. Dyn. Syst., Meas., Control, 102, pp. 126–133.
Whitney,  D. E., 1982, “Quasi-static Assembly of Compliantly Supported Rigid Parts,” ASME J. Dyn. Syst., Meas., Control, 104, pp. 65–77.
Mason,  M. T., 1981, “Compliance and Force Control of Computer Controlled Manipulators,” IEEE Trans. Syst. Man Cybern., SMC-11, No. 6, pp. 418–432.
Hogan,  N., 1985, “Impedence Control: An approach to manipulation: Part I-Theory; Part II-Implementation; Part III-Applications,” ASME J. Dyn. Syst., Meas Control, 107, pp. 1–24.
Kazerooni,  H., Sheridan,  T., and Houpt,  P., 1986, “Robust Compliant Motion for Manipulators,” IEEE J. Rob. Autom., 2, No. 2, pp. 83–105.
Hemami,  H., and Wyman,  B. F., 1979, “Modeling and Control of Constrained Dynamic Systems with Application to Biped Locomotion in the Frontal Plane,” IEEE Trans. Autom. Control, 24, pp. 526–535.
McClamroch, N. H., 1986, “Singular Systems of Differential Equations as Dynamic Models for Constrained Robot System,” IEEE International Conference on Robotics and Automation, pp. 21–28
Arimoto, S., 1996, Control Theory of Non-linear Mechanical Systems—A Passivity-Based and Circuit-Theoretic Approach, Oxford, New York.
Wang,  D., and McClamroch,  N. H., 1993, “Position and Force Control for Constrained Manipulator Motion: Lyapunov’s Direct Method,” IEEE Trans. Rob. Autom., 9, No. 3, pp. 308–312.
Mills,  J. K., and Lokhorst,  D. M., 1993, “Stability and Control of Robotic Manipulators During Contact/Noncontact Task Transition,” IEEE Trans. Rob. Autom., 9, No. 3, pp. 335–346.
Youcef-Toumi,  K., and Gutz,  D. A., 1994, “Impact and Force Control: Modeling and Experiments,” ASME J. Dyn. Syst., Meas., Control, 116, pp. 89–98.
Pagilla,  P. R., and Tomizuka,  M., 1997, “Contact Transition Control of Nonlinear Mechanical Systems Subject to a Unilateral Constraint,” ASME J. Dyn. Syst., Meas., Control, 119, pp. 749–759.
Tarn, T. J., Wu, Y., Xi, N., and Isidori, A., 1996 “Force Regulation and Contact Transition Control,” IEEE Control Systems, pp. 32–40, Feb.
Brogliato, B., 1996, Nonsmooth Impact Mechanics: Models, Dynamics, and Control, Springer-Verlag, London.
Tornambe,  A., 1999, “Modeling and control of the impact in mechanical systems: Theory and experimental results,” IEEE Trans. Autom. Control, 44, No. 2, pp. 294–309.
ten Dam,  A. A., Dwarshuis,  E., and Willems,  J. C., 1997, “The contact problem for linear continuous time dynamical systems: a geometric approach,” IEEE Trans. Autom. Control, 42, No. 4, pp. 458–472, Apr..
van der Schaft,  A. J., and Schumacher,  J. M., 1998, “Complimentarity Modeling of Hybrid Systems,” IEEE Trans. Autom. Control, 43, No. 4, pp. 483–499.
van der Schaft, A. J., and Schumacher H., 2000, An Introduction to Hybrid Dynamical Systems, Springer-Verlag, New York.
Stoianovici,  D., and Hurmuzlu,  Y., 1996, “A Critical Study of the Applicability of Rigid-Body Collision Theory,” ASME J. Appl. Mech., 63, pp. 307–316.
King, R., and Hahn, R., 1986, Handbook of Modern Grinding Technology, Chapman and Hall.
Brach, R. M., 1991, Mechanical Impact Dynamics: Rigid Body Collisions, Wiley, NY.
Kozlov, V. V., and Treschev, D. V., 1991, “Billiards: A Genetric Introduction to the Dynamics of Systems with Impacts,” AMS Translations of Mathematical Monographs, Providence, RI.
Vidyasagar, M., 1978, Nonlinear System Analysis, Prentice Hall, Englewood Cliffs, NJ.

Figures

Grahic Jump Location
Postimpact versus preimpact normal velocity
Grahic Jump Location
Schematic of robotic surface finishing system
Grahic Jump Location
Transition due to constraint uncertainty
Grahic Jump Location
Surface following results using direct switch
Grahic Jump Location
Surface following results using transition control
Grahic Jump Location
Surface finishing mode 1
Grahic Jump Location
Surface finishing mode 2
Grahic Jump Location
Tracking errors during surface finishing, mode 1
Grahic Jump Location
Forces regulation during surface finishing, mode 1
Grahic Jump Location
Tracking errors during surface finishing, mode 2
Grahic Jump Location
Forces regulation during surface finishing, mode 2
Grahic Jump Location
FFT of force data, mode 1
Grahic Jump Location
FFT of force data, mode 2

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In