An Approach to Automated Deburring Using Robot Manipulators:Impedance Control

这项工作将研究去毛刺过程作为一个独立的加工过程，特别是当阻抗控制被用于控制过程时，它在工业机器人机械手上的应用。采用阻抗控制，通过在线微机控制对机器人末端执行器的柔度进行电子调节。末端执行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，并通过对两个微型执行器的反馈来电子地发展其顺应性。这项研究将把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，以达到所需的表面光洁度和轮廓，并防止过载。为了实现这一点，设计目标是控制闭环系统，使系统位置与接触力的比率保持恒定。

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.