On-the-Edge Finishing of Curved Planar Parts

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

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