DocumentCode
2476373
Title
Compliant motion control for robust robotic surface finishing
Author
Buckmaster, David J. ; Newman, Wyatt S. ; Somes, Steven D.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH
fYear
2008
fDate
25-27 June 2008
Firstpage
559
Lastpage
564
Abstract
With the emergence of stable and responsive robotic compliant motion control, introducing robotic grinding and deburring to industry may soon be feasible. Technical needs for this transition include means to accommodate imprecise fixturing, a method for simple, intuitive and dependable programming, and the ability to monitor process progress online. We describe a new hybrid form of Natural Admittance Control that is used to address these challenges.
Keywords
deburring; grinding; motion control; robots; robust control; compliant motion control; dependable programming; intuitive programming; natural admittance control; robotic deburring; robotic grinding; robust robotic surface finishing; Admittance; Deburring; Fixtures; Industrial control; Monitoring; Motion control; Robot programming; Robust control; Service robots; Surface finishing; Force Control; Intelligent and Flexible Manufacturing; Parts Feeding and Fixturing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location
Chongqing
Print_ISBN
978-1-4244-2113-8
Electronic_ISBN
978-1-4244-2114-5
Type
conf
DOI
10.1109/WCICA.2008.4592983
Filename
4592983
Link To Document