Position/force control of manipulator based on force measurement and its application to gear deburring

Abstract

Robotic gear deburring is a relatively difficult task because traditional position/force control laws are not suitable due to the complicated geometry and inevitable system positioning error. A position/force control algorithm based on force measurement is investigated for unknown gear profile detection and tracking, and its further application to the deburring process. A PID type fuzzy logic controller is applied to deal with the non-linear contact force control problem, and a velocity compensated position control method is utilized to obtain a faster response. Experimental results are provided to verify the efficiency of the proposed control method.