Title :
Automated force control schemes for robotic deburring: Development and experimental evaluation
Author :
Duelen, G. ; Münch, H. ; Surdilovic, D. ; Timm, J.
Author_Institution :
Fraunhofer-Inst. for Production Syst. & Design Technol., Berlin, Germany
Abstract :
The authors address development, implementation and performance tests of a hybrid position/force controller for stable metal removal using industrial robots. To define a general control structure for robotic deburring, they examine also force and motion planning problems and define an interface between task specification, interpolation, and servo control. The hybrid control problem is solved at both the servo and motion planning control levels. The feasibility of the proposed scheme in multi-axis industrial robots was verified experimentally on an advanced robot control system
Keywords :
force control; industrial robots; machining; position control; process computer control; deburring; development; force control; hybrid control; industrial robots; interpolation; machining; performance; position control; process computer control; servo control; task specification; Automatic control; Deburring; Force control; Industrial control; Motion control; Motion planning; Robot control; Robotics and automation; Service robots; Testing;
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
DOI :
10.1109/IECON.1992.254483
