Automated robotic deburring using impedance control

Abstract

An automated deburring procedure using a robot manipulator is considered for the removal of burrs in the presence of robot oscillations and bounded uncertainties in the tool holder. Electronic compliancy (impedance control) is proposed as an adaptive mechanism to satisfy the requirements of this application. The development and implementation of the impedance control methodology on an active end-effector or the whole robot are examined for precision deburring and grinding tasks.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>