THIS PAPER REVIEWS THE SENSING AND CONTROL OF SOME IMPORTANT PARAMETERS THAT DETERMINE AN EFFICIENT AND RELIABLE ROBOTIC DEBURRING PROCESS. THE CONTOUR OF THE SURFACE WHICH CONTAINS THE BURR, THE SIZE, THICKNESS, HARDNESS, AND UNIFORMITY OF THE BURR ARE SUCH PARAMETERS. THE CONTOUR OF THE SURFACE CALLS FOR A ROBOT WITH AN ADEQUATE NUMBER OF DEGREES OF FREEDOM FOR MULTIPLE TRAJECTORY CONTROL; THE REMAINING PARAMETERS IMPLY FORCE AND POSITION CONTROL OF THE ROBOT'S END EFFECTOR. ACCORDINGLY, A CONCEPTUAL MULTI-VARIABLE CONTROLLER FOR DEBURRING ROBOTS AND END-EFFECTOR IS PROPOSED. THE CONTROL SYSTEM IS AN ADAPTIVE FORCE AND POSITION CONTROLLER WHICH ENABLES THE END EFFECTOR TO FOLLOW A WELL-DEFINED TRAJECTORY, AND APPLIES THE REQUIRED FORCE OR TORQUE TO A GIVEN BURR ALONG THE TRAJECTORY. ADDITIONALLY, THE SYSTEM INCLUDES PROPORTIONAL/DERIVATIVE (PD), AND PROPORTIONAL/INTEGRAL/DERIVATIVE (P
| Number of Pages : | 28 |
| Published : | 06/01/1991 |
