Manipulator for Automated Deburring with On-line Adaptive Hybrid Force/position Control of a Flexible Cutting Trajectory Modification

In this paper, we propose a method of controlling a deburring flexible manipulators. All of the analysis in the paper are under the curved coordinates. The goal of the automated deburring is to remove the burrs at a constant tangential cutting force. Therefore, maintaining a constant contact normal force and constant tangential cutting force is required. The dynamics of both the deburring process and the flexible manipulator will be investigated in detail, and the latter will be derived using Lagragian method with assume-mode approach. To facilitate the controller design, a singular perturbation technique is then utilized to separate the system into a slow subsystem and a fast subsystem. For solving the deburring problem, a new hybrid force/position controller is proposed for the slow subsystem, it is implemented by adaptive control strategy, whereas a dynamic feedback controller is developed for the fast subsystem. It is shown that both the position tracking error and the force error will converge to zero as time approach infinity. Finally, the computer simulations and expcrimcnts of a two-link flexible manipulator confirm the effectiveness of the proposed adaptive controller.