Liu, Mei-Hua ; Tolle, Henning (2023)
Force-Controlled Robotic Deburring.
In: IFAC Proceedings Volumes, 1993, 26 (2)
doi: 10.26083/tuprints-00023370
Article, Secondary publication, Publisher's Version
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| Item Type: | Article |
|---|---|
| Type of entry: | Secondary publication |
| Title: | Force-Controlled Robotic Deburring |
| Language: | English |
| Date: | 2023 |
| Place of Publication: | Darmstadt |
| Year of primary publication: | 1993 |
| Publisher: | IFAC - International Federation of Automatic Control |
| Journal or Publication Title: | IFAC Proceedings Volumes |
| Volume of the journal: | 26 |
| Issue Number: | 2 |
| DOI: | 10.26083/tuprints-00023370 |
| Corresponding Links: | |
| Origin: | Secondary publication service |
| Abstract: | In this paper a three-step active deburring strategy is proposed based on force feedback control. Strategies for automatic contour following are developed to identify unknown workpiece contours, to automatically generate desired robot motions, and to detect unknown burr sizes. Under the active deburring strategy burr size variations are identified through contour following and different sizes of burrs are removed with a specification of a variable desired deburring force. Implementation of and experiments with the proposed strategies are described. |
| Uncontrolled Keywords: | Deburring, force control, grinding, machining, position control, robots, teaching |
| Status: | Publisher's Version |
| URN: | urn:nbn:de:tuda-tuprints-233709 |
| Additional Information: | Zugl. Konferenzveröffentlichung: 12th Triennial World Congress of the International Federation of Automatic Control, 18.-23.07.1993, Sydney, Australia |
| Classification DDC: | 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering |
| Divisions: | 18 Department of Electrical Engineering and Information Technology > Institut für Automatisierungstechnik und Mechatronik > Control Methods and Intelligent Systems |
| Date Deposited: | 14 Mar 2023 10:47 |
| Last Modified: | 13 Jul 2023 15:21 |
| URI: | https://tuprints.ulb.tu-darmstadt.de/id/eprint/23370 |
| PPN: | 509623379 |
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