Automated roboting deburring using electronic compliancy; Impedance control
- 23 March 2005
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 1025-1032
- https://doi.org/10.1109/robot.1987.1087862
Abstract
A new strategy has been developed for preclslon deburrlng and grinding to guarantee burr removal whlle compensating for robot oscillatrons and small uncertaintles in the location of the part relatlve to the robot. Thls problem has been posed as a frequency domaln control problem. Electronic cornpllancy (impedance control) Is demanded as an "adaptwe" mechsnlsm to satisfy the requlrements of this new strategy. Thls paper examlnes the development anc! lmplementatlon of impedance control methodolgy (7,8,9,10,161 on an active endeffector(151 (or the whole robot if it Is possible) for precision deburring and grinding tasks.Keywords
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