The direct teaching and playback method for robotic deburring system using the adaptiveforce-control

摘要

Industrial robots are widely used and should be able to easily treat various work pieces. Therefore, a teaching and playback method is effective in small-quantity batch production. This paper suggests the mathematical modeling of the robotic deburring system, a complex target workpiece, and an uneven environment. First, a method is proposed that simplifies the teaching path for automated robotic deburring for efficient teaching, to generate a feasible trajectory that traces out a playback reference, and then an artificial disturbance on its playback motion is set. The recorded path is compressed using the Douglas-Peuker (DP) algorithm, which is for smoothing curves. Next, the simulation results based on the realization algorithm for effective direct teaching are introduced. Through this process, fundamental dynamic parameters are estimated and the adaptive force control strategies that were implemented in the simulation are verified.