An Approach to Automated Deburring Using Robot Manipulators:Impedance Control

这项工作将调查去毛刺过程作为一个独立的 机械加工工艺及其在工业上的应用 当阻抗控制用于控制机器人操纵器时， 过程 通过阻抗控制，机器人的顺应性 末端执行器通过在线电子调制 微机控制 末端效应器的动态行为就好像它 具有可调节刚度的机械弹簧;然而， 末端执行器没有弹簧，并发展其顺应性 通过两个微型致动器上的反馈电子地进行。 本研究 将这一概念应用于机器人去毛刺。 在去毛刺 过程中，有必要控制接触力，以实现 要求的表面光洁度和轮廓，并防止过载。 到 为了实现这一点，设计的目标是控制闭环系统 使得系统位置与接触力的比率为 保持恒定。

This work will investigate the deburring process as an independent machining process with special regard to its application by industrial robot manipulators when impedance control is used to control the process. With impedance control, the compliance of the robot end-effector is modulated electronically by means of online microcomputer control. The end-effector behaves dynamically as if it has mechanical springs with adjustable stiffness; however, the end-effector does not have srpings and develops its compliance electronically by feedback on two miniature actuators. This research will apply this concept to robotic deburring. In the deburring process, it is necessary to control the contact force to chieve the required surface finish and profile and to prevent overloading. To achieve this, the design objective is to control the closed-loop system such that the ratio of the system position to the contact force is maintained constant.