Abstract
The paper describes the development of an active end effector force control system for robotic deburring. The purpose of the control is to maintain a constant cutting force by making position adjustments normal to the part edge. Autoregressive moving-average (ARMA) models which relate the position command for the end effector to the resulting change in the cutting force were developed for the deburring process. A non-adaptive PID controller is designed and tested using real time control experiments. The results indicate a rise time of about 150 ms to a step change in the reference force. A force variation from the reference level of about 1 N peak-to-peak, which produced a chamfer variation of 0.12 mm peak-to-peak, was achieved. The robot speed used in these experiments was 25 mm/s.
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