Cost-Efficient Drilling Using Industrial Robots with High-Bandwidth Force Feedback
Författare
Summary, in English
Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the workpiece surface, an undesired effect that is due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance also makes the robot deflect due to the cutting forces, resulting in poor hole position accuracy and to some extent in poor hole quality. Recently, functionality for high-bandwidth force control has found its way into industrial robot control systems. This could potentially open up the possibility for robotic drilling systems with improved performance, using only standard systems without excessive extra hardware and calibration techniques. Instead of automation with expensive fixtures and precise machinery, our approach was to make use of standard low-cost robot equipment in combination with sensor feedback. The resulting sliding suppression control results in greatly improved hole positioning and quality. The conceptual idea behind the force control is useful also in
many other robotic applications requiring external sensor feedback control.
many other robotic applications requiring external sensor feedback control.
Avdelning/ar
Publiceringsår
2010
Språk
Engelska
Sidor
24-38
Publikation/Tidskrift/Serie
Robotics and Computer-Integrated Manufacturing
Volym
26
Dokumenttyp
Artikel i tidskrift
Förlag
Elsevier
Ämne
- Control Engineering
- Computer Science
Nyckelord
- High-precision drilling
- Force control
- Feedback
- Industrial robotics
- Motion control
Status
Published
Projekt
- FlexAA
- LU Robotics Laboratory
- ProFlexa
Forskningsgrupp
- LCCC
ISBN/ISSN/Övrigt
- ISSN: 0736-5845