Title :
Robotic machining: material removal rate control with a flexible manipulator
Author :
Zhang, Hui ; Pan, Zengxi
Author_Institution :
ABB Corporate Research China
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;
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
DOI :
10.1109/RAMECH.2008.4690881
