tailieunhanh - Robot manipulators new achievements_1

A machining manipulator is subject to mechanical interaction with the object being processed. The robot performs the task in constrained work space. In constrained tasks, one is concerned with not only the position of the robot end-point, but also the contact forces, which are desired to be accommodated rather than resisted. Therefore, interaction force needs to be considered in designing and controlling deburring tools. | 1 Modeling and Control of a New Robotic Deburring System Jae H. Chung US Army RdEcOM-ARDeC Building 95N Picatinny Arsenal NJ 07806 USA 1. Introduction A machining manipulator is subject to mechanical interaction with the object being processed. The robot performs the task in constrained work space. In constrained tasks one is concerned with not only the position of the robot end-point but also the contact forces which are desired to be accommodated rather than resisted. Therefore interaction force needs to be considered in designing and controlling deburring tools. Many researchers have proposed automated systems for grinding dies deburring casting removing weld beans etc Bopp 1983 Gustaffson 1983 . Usually a deburring tool is mounted on a NC machining center or a robot manipulator. Several control laws have been developed for simultaneous control of both motion and force Whitney 1987 Hogan 1984 of robotic manipulators. Despite the diversity of approaches it is possible to classify most of the control methods into two major approaches impedance control Wang Cheah 1996 Carelli Kelly 1991 and hybrid position force control Raibert Craig 1981 Yoshikawa et al. 1988 . However these methods require an accurate model of force interaction between the manipulator and the environment and are difficult to implement on typical industrial manipulators that are designed for position control. An active feedback control scheme was developed in order to supply compliance for robotic deburring as a means to accommodate the interaction force due to contact motion. Kuntze Kuntze 1984 suggested an active control scheme in which the actuators are commanded to increase torques in the opposite direction of the deflections. Paul Paul et al. 1982 applied an active isolator to a chipping robot where the isolator attached to the arm tip reduces the vibration seen by the robot. Sharon and Hardt Sharon and Hardt 1984 developed a multi-axis local actuator which compensates for positioning errors

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