DocumentCode
885561
Title
Automated robotic deburring using impedance control
Author
Kazerooni, H.
Author_Institution
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
Volume
8
Issue
1
fYear
1988
Firstpage
21
Lastpage
25
Abstract
An automated deburring procedure using a robot manipulator is considered for the removal of burrs in the presence of robot oscillations and bounded uncertainties in the tool holder. Electronic compliancy (impedance control) is proposed as an adaptive mechanism to satisfy the requirements of this application. The development and implementation of the impedance control methodology on an active end-effector or the whole robot are examined for precision deburring and grinding tasks.<>
Keywords
factory automation; industrial robots; machining; position control; active end-effector; adaptive mechanism; automated deburring; closed loop control; electronic compliancy; grinding tasks; impedance control; industrial robots; machining; robot manipulator; Automatic control; Costs; Deburring; Finishing; Impedance; Manipulators; Manufacturing automation; Production; Robotics and automation; Robots;
fLanguage
English
Journal_Title
Control Systems Magazine, IEEE
Publisher
ieee
ISSN
0272-1708
Type
jour
DOI
10.1109/37.464
Filename
464
Link To Document