Application and Analysis of Force Control Strategies to Deburring and Grinding

• 作者: Bernd Kuhlenkoetter Carsten Krewet Frank Domroes
• 来源期刊: 现代机械工程(英文)
• 学科: 医学
• 关键词: ROBOT MACHINING DEBURRING GRINDING FORCE Control STRATEGIES
• 年，卷（期）: 2013,（2）
• 页码范围: 11-18
• 页数: 8页
• 分类号: R73

摘要

This paper aims to give an insight into the development and evaluation of force controlled machining processes with a commercially available setup. We will focus on a deburring and a grinding scenario, representing the major applications in today’s robot machining. Whereas the deburring use-case implements a force dependent feed-rate control, the grinding use-case implements an orthogonal force (pressure) control. Both strategies will be evaluated and the influence of general machining and robot specific parameters will be discussed.