An Adaptive algorithm for robotic deburring based on impedance control

Robotic edge profiling of complex components

“…This proposed system is capable of correcting the tool path and maintaining an adequate contact between the robot tool and part edge. Much of the research involved in the area of control methods can be categorised into two major approaches: impedance control (Cohen and Flash, 1991; Carelli and Kelly, 1991; Wang et al , 2006a, b) and hybrid position/force control (Pires et al , 2002; Goradia et al , 2002; Robertsson et al , 2006; Pires and Afonso, 2007; Ziliani et al , 2005, 2007). These methods require an accurate model of force interaction between the manipulator and the environment and are difficult to implement on typical industrial manipulators that are designed for position control.…”

“…The conventional force control method for the deburring process has the inherent characteristic of leaving the deburred surface as in imprint of the original and cannot distinguish the position deflection of the end‐effector and the greater burrs. To overcome this problem Wang et al (2006a, b) proposed an impedance control method with an adaptive algorithm for the detection of burrs and cavities on a workpiece for the deburring process. This incorporates a fuzzy impedance controller and a fuzzy velocity controller to improve motion control and the quality of deburred surface.…”

Precision Robotic Machining: Modelling and Control Innovations for Improved Performance

“…Force control has been investigated, most commonly as an admittance controller [44,54,55]. Fuzzy force controllers, which implement similar logic to the admittance controller but use fuzzy rules that can be more interpretable in some cases, have also been investigated [54,[56][57][58][59]. Impedance control [60] has also been investigated, but cannot achieve high precision due to dynamic disturbances from high friction forces in the heavy-duty seals required for dusty machining environments.…”

“…Admittance control has been used in contouring for deburring [44,54], but typically only in low-accuracy applications and using relatively slow localization methods. Fuzzy control has also been implemented [58,59], giving similar behaviour to admittance control using fuzzy logic rules, which can be easier to interpret and tune in some situations.…”

“…In [45], the authors developed an admittance controller integrating sliding mode control for surface conditioning operations, which was robust to kinematic errors. Several researchers have also investigated fuzzy control for deburring [58,59], which implements controller behaviour similar to admittance control using fuzzy logic rules, which can be easier to interpret and tune in some situations. Unfortunately, the proposed strategies have overall not advanced sufficiently for practical industrial implementation.…”