Sage Journals: Discover world-class research

Abstract

In this paper, edge-finishing automation using an active position/force control system is discussed. The architecture for a robust edge-finishing control system is developed, and the implementation of this con trol system on an xy table for the purpose of finishing planar parts is discussed. The control system combines position/force control with a fuzzy logic controller to compensate for part tolerance and fixturing errors. The cutting process is modeled using an empirically derived set of equations that relate tool contact forces and variances to the final chamfer depth that results on the part. The paper demonstrates that tangential force and normal position control is the preferred method for task-level control of edge-finishing processes because kinematic instability that develops when finishing highly curved parts can be avoided. Motion planning at the task level preserves spatial accuracy and prevents this phenomenon from developing. Experimental eval uation of the system on a sample workpiece shows the system is capable of consistent edge finishing in the presence of workpiece position uncertainty.

Keywords

Finishing fuzzy-logic control position/force control task-level control

Get full access to this article

View all access options for this article.

References

An, C.H. and Hollerbach, J.M. , 1987, "Kinematic stability issues in force control of manipulators," in Proceedings 1987 IEEE International Conference Rob. Auto, Raleigh, NC, 897-903.

Bone, G.M. , Elbestawi, M.A. , Lingarkar, R. , and Liu, L. , 1991, "Force control for robotic deburring," ASME J. Dyn. Sys. Meas. Control, 113, 395-400.

Box, G.E.P. , Hunter, W.G. , and Hunter, J.S. , 1978, Statistics for Experimenters: An Introduction to Design, Data Analysis, and Model Building, John Wiley, New York.

Craig, J.J. , 1989, Introduction to Robotics: Mechanics and Control, Addison-Wesley, Reading, MA.

Duelen, G. , Munch, H. , Surdilovic, D. , and Timm, J. , 1992, "Automated force control schemes for robotics deburring: Development and experimental evaluation," in 1992 International Conference on Industrial Elec., Contr., Instr., and Automation (IECON), 912-917.

Haefner, K.B. , Houpt, P.K. , Baker, T.E. , and Dausch, M.E. , 1986, "Real time robotic position control for deburring," in Robotics: Theory and Applications, ASME Winter Annual Meeting, Vol. DSC-3.

Her, M.G. and Kazerooni, H. , 1991, "Automated robotic deburring of parts using compliance control," ASME J. Dyn. Sys. Meas. Control, 113, 60-66.

Hollowell, R. and Guile, R. , 1987, "An analysis of robotic chamfering and deburring," in Modeling and Control of Robotic Manipulators and Manufacturing Processes , ASME Winter Annual Meeting, Vol. DSC-6, pp. 73-77.

Kazerooni, H. , 1988, "Automated robotic deburring using impedance control," IEEE Control Systems Magazine, February.

10.

Lahoud, M.A. , et al, 1990, "Benefits to CIM of robot deburring: The use of modelling and control," in Computer Integrated Manufacturing , Proceedings of the 6th CIM-Europe Annual Conference .

11.

Lawrence, D.A. , 1988, "Impedance control stability properties in common implementations ," in 1988 IEEE International Conference Rob. Auto, Philadelphia, PA.

12.

Lee, C.C. , 1990, "Fuzzy logic in control systems: Fuzzy logic controller—Parts I & II," IEEE Trans. Sys. Man, and Cyber., 20 (2).

13.

Liu, M.-H. and Wienand, S. , 1994, "Applications of the fuzzy logic in automated robotic deburring," Fuzzy Sets and Systems 63, 293-305.

14.

Poo, A.-N. , Bollinger, J.G. , and Younkin, G.W. , 1972, "Dynamic errors in Type I contouring systems," IEEE Trans. Ind. Appl., IA-8 (4).

15.

Powell, M.A. , 1995, "Agile robotic edge finishing system research," in Proceedings of SME Finishing '95, September.

16.

Raibert, M.H. and Craig, J.J. , 1981, "Hybrid position/force control of manipulators," ASME J. Dyn. Sys. Meas. Control.

17.

Starr, G.P. and Loucks, C.S. , 1992, "Edge finishing using hybrid position/force control of an XY table," in Proceedings 1992 International Symposium on Robotics and Manufacturing, Santa Fe, NM.

On-the-Edge Finishing of Curved Planar Parts

Abstract

Keywords

Get full access to this article

References