Force control with vision feedback for robotic deburring processes
Journal
Advanced Science Letters
Journal Volume
8
Pages
858-862
Date Issued
2012
Author(s)
Abstract
This paper calculates the required grinding force from the proposed force model, according to the burr height detected by a burr contour tracking method of the vision system in the deburring processes. Hybrid impedance control is suitable for robotic force control with constrained motion. However, it suffers from unmodeled uncertainty, highly nonlinear and time-varying coupled characteristics of the robot system, incomplete compensation of the nonlinear terms of the system dynamics, and variations of the control parameters and the environment during machining. We integrate the hybrid position/force control law, the impedance control law, and the method of adaptive control to develop an adaptive hybrid impedance control law (AHIC) in order to reduce those effects. The simulated results show that the AHIC can effectively overcome the drawbacks in employing conventional playback robot. Finally, we integrate the force model, the image system, and the AHIC to carry out the experiments of the complete robotic deburring processes. The experimental results show that the rollover burr of an aluminum alloy obtained by end milling can be effectively removed with high precision. © 2012 American Scientific Publishers. All rights reserved.
Type
journal article