CONTROL FOR ROBOTIC DEBURRING BY HYDRAULIC SHOVEL
نویسندگان
چکیده
منابع مشابه
Cad Directed Robotic Deburring
Robots prove advantageous for the deburring of machined parts because they are more repeatable than humans and suffer no fatigue. However, most deburring robots are programmed manually, requiring a large investment in programming time. At the National Bureau of Standards' Automated Manufacturing Research Facility, research is being conducted on techniques to automate robot programming. A techni...
متن کاملModeling and control of a new robotic deburring system
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 c...
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A robotic cell for deburring planar polygonal objects is described. The object comes from a conveyor and arrives in a random position on a parallel manipulator. Its center of mass is located through the measurements of a 6-componants force sensor, it is then grasped and a force-feedback scheme is used to fix the object on a special plate. Then a probing algorithm is used to discover the locatio...
متن کاملThe Development of Co:mpliant Tool Holders for Robotic Deburring
This paper represents a practical and economical alternative to manual deburring. Several passive end-effectors have been designed, built and tested to meet the robotic deburring requirements. The compliancy in these end-effectors allow for robot position uncertainties relative to the parts. A set of experiments have been carried out to show the effectiveness of the end-effectors performance in...
متن کاملApplication of an Intelligent Force Controller for Robotic Deburring Process
To achieve the desired dynamic impedance and the smooth chamfer contour, some adaptive controls and intelligent control schemes are incorporated in the impedance control for uncertain constrained robot systems. Most of them still result in an uneven chamfer for its characteristics in nature as the burrs vary highly. In this paper, an intelligent force controller based on impedance control with ...
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ژورنال
عنوان ژورنال: Proceedings of the JFPS International Symposium on Fluid Power
سال: 1996
ISSN: 2185-6303
DOI: 10.5739/isfp.1996.283