Robotic Deburring Based On Fuzzy Force Control

Abstract

The static and dynamic behaviour of the deburring process is analysed and with the help of fuzzy logic a linguistic description of the process is established. A fuzzy force control strategy for robotic deburring based on a corrective position/force con- trol structure is put forward. This deburring strategy solves the problems of compensating positional inac- curacies and adjusting the feedrate according to un- known burr sizes in a systematic way. Experimental results have verified the effectiveness of the proposed deburring strategy.