Cost-efficient drilling using industrial robots with high-bandwidth force feedback

A Sensor-Based Dual-Arm Tele-Robotic System

“…To simplify the stability analysis, we consider a constant linear feedback in the position accommodation force control law (6). Considering only along the squeeze direction, we havė…”

“…e-mail: krused2@rpi.edu, rjradke@ecse.rpi.edu, wenj@rpi.edu but they are not designed for human interaction. Even when external sensors are used, they are tailored for specific tasks, e.g., welding [3], filament winding [4], grinding [5], or drilling [6], and tied to specific platforms, e.g., VAL [7] or RAPID [8]. These systems typically involve a single robot arm equipped with an end effector dedicated to a specific class of tasks.…”

Strategic Control Level for Industrial Robotic Contact Tasks

“…Although the set of tasks requiring strong interaction with the environment is very large, the use of industrial robots on such tasks is still low due to control difficulties (Lopes & Almeida 2008;Love & Book, 2004;Olsson et al, 2010).…”

Robotic Three-dot Force Feedback to Suppress Surface Contact Slipping in Robot Drilling

“…Due to the large volume, high cost, poor flexibility, large CNC machine gradually cannot meet the requirements of market on the production cost and efficiency [1]. In aircraft skin drilling, for example: aircraft assembly processing requires hole position accuracy<0.2mm, diameter error <0.025mm [2], the drilling axial load is usually<400n, the torque load<5N-m. Because of the size of the workpiece and shape error can reach centimeter level, the robot guarantees the position accuracy of holes only though absolute positioning accuracy, rather than repeat positioning accuracy.…”

“…In the process of making hole, in real time by a six dimensional force sensor to feedback the terminal actuator's torque and torque to the ABB robot controller, which can restrain the tangential sliding and normal vibration which is relative to the workpiece by the movements of the robots actuators in the process of making hole to guarantee the quality of drilled holes. In 2009 Tomas Olsson improved the terminal actuator which is simpler, lower cost [2]. Current commercial robot using the closed strategy, which cannot be able to process the underlying control link, but Laud University, proposed an open robot controller interface [6], through which we can process the underlying control link of robots.…”