Force-position-velocity control of an industrial machine in computer integrated manufacturing

A simple heuristic approach for force-position-velocity control of an industrial robot in a CIM environment is presented. This strategy can be used in industrial operations such as milling, grinding, deburring, sanding, buffing, and polishing. As an example, a deburring operation under compliant control of a grinding machine is considered. The approach has been arrived at after a careful analysis of how a human operator would perform the task under manual control. A heuristic pseudocode is suggested to simulate the compliant force-position-velocity control applied by the human operator