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Force-Controlled Robotic Deburring

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 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau
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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