Title :
Automated robotic deburring using impedance control
Author_Institution :
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
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;
Journal_Title :
Control Systems Magazine, IEEE
