Automated roboting deburring using electronic compliancy; Impedance control

A new strategy has been developed for precision deburring and grinding to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part relative to the robot. This problem has been posed as a frequency domain control problem. Electronic compliancy (impedance control) is demanded as an "adaptive" mechanism to satisfy the requirements of this new strategy. This paper examines the development and implementation of impedance control methodology [7,8,9,10,16] on an active end-effector[15] (or the whole robot if it is possible) for precision deburring and grinding tasks.