Process Model-Based Force-Controlled Chamfering and Deburring

Abstract

During the past decade, the manufacturing industry has experienced a dramatic increase in employ ees suffering from repetitive motion injuries. Hence, a renewed interest in the use of passive and active mi cromanipulators for automating deburring and finishing applications has arisen. In this paper, a new approach for the control of active micromanipulators used for automated edge chamfering and deburring applications is presented. The approach implements a process model into the controller's correlations and logic mod ule to provide a basis for determining adjustments in the controlled force levels. Based on sensor data and system/process knowledge, the module makes decisions on what corrective action, if any, is required to ensure burr removal and production of the desired chamfer. Both simulation and experimental results are presented, demonstrating the effectiveness of this new controller design.