Research ArticleOpen AccessGoogle Scholar indexed
Application and Analysis of Force Control Strategies to Deburring and Grinding
Institute of Production Systems, TU Dortmund University, Dortmund, Germany
Institute of Production Systems, TU Dortmund University, Dortmund, Germany
Institute of Production Systems, TU Dortmund University, Dortmund, Germany
- 1 Institute of Production Systems, TU Dortmund University, Dortmund, Germany
- 2 Institute of Production Systems, TU Dortmund University, Dortmund, Germany
- 3 Institute of Production Systems, TU Dortmund University, Dortmund, Germany
Modern Mechanical Engineering·Volume 03 (2013)·Pages 11–18·Published 21 June 2013·DOI10.4236/mme.2013.32A002
Copy link · social · email
Abstract
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.
KeywordsRobot MachiningDeburringGrindingForce Control Strategies
- J. Pandremenos, C. Doukas, P. Stavropoulos and G. Chryssolouris, “Machining with Robots: A Critical Review,” Proceedings of DET2011 7th International Conference on Digital Enterprise Technology, Greece, September 2011, pp. 614-621.
- A. Robertsson, T. Olsson, R. Johansson, A. Blomdell, K. Nilsson, M. Haage, B. Lauwers and H. De Baerdemaeker, “Implementation of Industrial Robot Force Control Case Study: High Power Stub Grinding and Deburring,” 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 9-15 October 2006, pp. 2743-2748. doi:10.1109/IROS.2006.282000
- “IRB 6660 Industrial Robot,” ABB Robotics, Vasteras, 2010.
- Staubli International AG, “Robotertechnik fur Maschinelle Bearbeitung,” 2008. http://www.staubli.com/en/robotics/6-axis-scara-industrial-robot/specialized-robot/high-speed-machining-robots/
- “KUKA.CNC for Maximum Robot Performance in Machining Processes,” KUKA Roboter GmbH, Gersthofen, 2011.
- “Application Manual Force Control for Machining, Revision: H,” ABB Robotics, Vasteras, 2012.
- A. J. Wertz, “Robotic Grinding Using ABB’s Force Control Technology,” Benton Foundry Inc, Gettysburg, 2011. http://www.ductile.org/magazine/2011_2/alanwertz1.pdf
- T. Hemker, M. Friedmann, O. V. Stryk, M. Pischan, J. Bauer and E. Abele, “Prediction of the Tool Displacement for Robot Milling Applications Using Coupled Models of an Industrial Robot and Removal Simulation,” Proceedings of the CIRP 2nd International Conference Process Machine Interactions, Vancouver, 10-11 June 2010.
- J. Bauer, “Analyse der Wechselwirkungen Zwischen Industrieroboterstruktur und Frasprozess,” TU Darmstadt, Institut fur Produktionsmanagement, Technologie und Werkzeugmaschinen, Darmstadt, 2012.
- B. Olofsson, O. Sornmo, U. Schneider, A. Robertsson, A. Puzik and R. Johansson, “Modeling and Control of a Piezo-Actuated High-Dynamic Compensation Mechanism for Industrial Robots,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, 25-30 September 2011, pp. 4704-4709. doi:10.1109/iros.2011.6094846
- Z. Pan, “Intelligent Robotic Machining with Force Control,” Stevens Institute of Technology, 2005. http://books.google.de/books?id=FU5SNwAACAAJ
- H. Zhang, H. Chen, N. Xi, G. Zhang and J. He, “On-Line Path Generation for Robotic Deburring of Cast Aluminum Wheels,” Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 9-15 October 2006, pp. 2400-2405. doi:10.1109/IROS.2006.281679