An active end effector based force control system for robotic deburring is successfully implemented using a PUMA-560 robot. The system goal of a controlled chamfer depth with minimum surface roughness is achieved by minimizing the normal chamfering force variance online. Several force control algorithms are evaluated based on this objective. The control laws are designed based on models combining a deterministic plant with a stochastic disturbance which are identified from experimental data. Simulation results are verified by real-time force control experiments. Performance comparisons are made based on the force variance and surface roughness achieved by each controller. The 6 step extended horizon controller is shown to achieve the best overall performance.
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September 1991
Research Papers
Force Control for Robotic Deburring
G. M. Bone,
G. M. Bone
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
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M. A. Elbestawi,
M. A. Elbestawi
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
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R. Lingarkar,
R. Lingarkar
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
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L. Liu
L. Liu
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
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G. M. Bone
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
M. A. Elbestawi
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
R. Lingarkar
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
L. Liu
Mechanical Engineering Department, McMaster University, Hamilton, Ontario, Canada L8S 4L7
J. Dyn. Sys., Meas., Control. Sep 1991, 113(3): 395-400 (6 pages)
Published Online: September 1, 1991
Article history
Received:
November 1, 1989
Revised:
August 1, 1990
Online:
March 17, 2008
Citation
Bone, G. M., Elbestawi, M. A., Lingarkar, R., and Liu, L. (September 1, 1991). "Force Control for Robotic Deburring." ASME. J. Dyn. Sys., Meas., Control. September 1991; 113(3): 395–400. https://doi.org/10.1115/1.2896423
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