DocumentCode
1592970
Title
Robotic machining: material removal rate control with a flexible manipulator
Author
Zhang, Hui ; Pan, Zengxi
Author_Institution
ABB Corporate Research China
fYear
2008
Firstpage
30
Lastpage
35
Abstract
Practical material removal rate (MRR) control strategies for industrial robot are presented in this paper. Based on a force control platform, both force signal and spindle power information could be used for MRR measurement. Three different control methods, PI control, adaptive control and fuzzy control, are implemented to satisfy various process requirements. Performance and experimental results are presented and compared. With controlled material removal rate (CMRR), the productivity of robotic machining process could be increased dramatically.
Keywords
Adaptive control; Force control; Force measurement; Fuzzy control; Industrial control; Machining; Manipulators; Pi control; Power measurement; Service robots; CMRR, force control, robotic machining;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location
Chengdu
Print_ISBN
978-1-4244-1675-2
Electronic_ISBN
978-1-4244-1676-9
Type
conf
DOI
10.1109/RAMECH.2008.4690881
Filename
4690881
Link To Document