Position and force control approach to automatic deburring by a robot manipulator

Some aspects of automatic deburring by a robot are considered. The strategy proposed is based on constrained motion control, in which both force and position of the robot are simultaneously controlled. However, in practice, a robot may be in free unconstrained motion before it comes in contact with the environment. In order to control the deburring operation without switching controllers for the unconstrained and constrained motions respectively, an additional controller is proposed, and a control strategy is used so that these three controllers for the robot are automatically switched. This ensures that the robot is stable during the whole process of deburring. A numerical example of a deburring process with a two degrees-of-freedom robot is presented for illustration