A STUDY ON FORCE CONTROL MECHANISM AND ALGORITHM FOR DEBURRING ROBOT

Abstract

The research carries out a study on the force control mechanism and algorithm for the deburring robot. The interaction between the robot and workpieces is the main objective to study through the robot motion and contact force. On the manufacturing technologies, the force control device for deburring robot, the intelligent deburring control (IDC) device is produced as a controllable stiffness mechanism. The IDC device consists of two pneumatic cylinders with a magnetic position sensor, pneumatic valve system, and an acceleration sensor. This device is modeled as the mas-damper-spring system in which the deburring tool is a mass component. The IDC device operates as an elastic suspension system, the automatic controller was required in the process of designing and manufacturing of IDC device. Therefore, the force control and interactive control were considered and studied. Through many steps of research, the realization of target impedance model is the main object to implement the simulation and experiment to evaluate the system response and theory. The objective of this research is to evaluate the position/force control for contact robotics by using the unified position/force control method and estimate the various perspectives on force control and robotics. The contact performance between the robot and workpieces is investigated by synthesizing the transient processes of robot motion and contact force. In which, the relation between contact force and robot motion is analyzed by unified position/force control method. In the transient processes, the stabilization of contact force is determined through the stabilization of robot motion. The position/force stabilization characteristics – based target impedance model is realized for building modeling of contact force is a function in accordance with robot motion deviation as position, velocity acceleration and for evaluating the affections of mass, damping, and stiffness parameters on the responses of the contact force such as overshoot ratio, settling and steady state. The combination of IDC device and robot impedance control can improve the performance of deburring patterns, compensate the actual position, and contact force.