Force Controlled Deburring using a Collaborative Robot

Abstract

This paper proposes a novel approach to robotic deburring. Although most of the methods already presented use a spindle as a deburring tool, a new method is investigated in this paper and validated by experimentation. The novelty of this work lies in the use of a simple deburring tool, which is usually used for manual deburring. In addition, the manipulator used is a collaborative robot that operates in hybrid motion force control. The characteristics of such robots gives human the ability to interact with the robot in a safe environment with little effort and safety measures, which was previously not possible for machining manufacturing purposes. Since the force and velocity of the robots play a decisive role in deburring, we have examined the lower and upper limits of these parameters through various experiments. To our knowledge, this is the first scientific work using a cobot and a simple hand deburring tool.