Title :
Compliant motion control for robust robotic surface finishing
Author :
Buckmaster, David J. ; Newman, Wyatt S. ; Somes, Steven D.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH
Abstract :
With the emergence of stable and responsive robotic compliant motion control, introducing robotic grinding and deburring to industry may soon be feasible. Technical needs for this transition include means to accommodate imprecise fixturing, a method for simple, intuitive and dependable programming, and the ability to monitor process progress online. We describe a new hybrid form of Natural Admittance Control that is used to address these challenges.
Keywords :
deburring; grinding; motion control; robots; robust control; compliant motion control; dependable programming; intuitive programming; natural admittance control; robotic deburring; robotic grinding; robust robotic surface finishing; Admittance; Deburring; Fixtures; Industrial control; Monitoring; Motion control; Robot programming; Robust control; Service robots; Surface finishing; Force Control; Intelligent and Flexible Manufacturing; Parts Feeding and Fixturing;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4592983
