Abstract
In this paper, a theoretical and experimental study to evaluate the use of force control in drilling operations, based on an industrial robot, is presented. A force control strategy embedded in a commercial industrial robot, originally devoted to general machining tasks, is adapted to drilling operations. It is shown that satisfactory results can be achieved in standard industrial applications. Unwanted displacements can occur, resulting in dimensional uncertainty, especially in specimens with very small dimensions. Nevertheless, the implemented force control is able to avoid the risks of failure in the material, and to minimize the operating time in several industrial drilling processes.
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