Title :
Edge finishing using hybrid position/force control of an XY table
Author :
Starr, Gregory P. ; Loucks, Clifford S.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
The authors describe the use of a direct-drive XY table in the automated edge finishing of machined parts. The table is faster and more accurate than an articulated robot, and where planar motion in a small work area is sufficient it is preferable. Hybrid position/force control is used to guide the table past the tool and maintain the contact force at the desired level. A six-axis force sensor on the tool spindle is used to measure contact force. A dynamic model is identified for the table from experimental measurements and this model is used to design a position/force controller for the table. An example application of the table in the deburring of an actual jet engine turbine hub is presented
Keywords :
control system synthesis; force control; machine tools; machining; position control; process computer control; contact force; design; direct-drive XY table; dynamic model; edge finishing; force control; machining; measurement; planar motion; position control; process computer control; six-axis force sensor; tool spindle; Deburring; Finishing; Force control; Force measurement; Force sensors; Jet engines; Position measurement; Robot sensing systems; Robotics and automation; Turbines;
Conference_Titel :
Industrial Electronics, Control, Instrumentation, and Automation, 1992. Power Electronics and Motion Control., Proceedings of the 1992 International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-0582-5
DOI :
10.1109/IECON.1992.254480
