Impedance Control Applied to Automated Deburring

Abstract

This paper considers some aspects of automatic deburring by robot. The strategy proposed is based on impedance control. Impedance control is a parameter-adaptive approach to manipulation aimed at modulating the effective dynamic behavior of a robot, rather than just its end-effector force or motion. To apply impedance control to robotic deburring, a simple model of the deburring process is developed. A target impedance for the robot is proposed which facilitates the identification of the parameters of the model of the deburring environment and leads to a straightforward parameter-adaptive control strategy for the robot. A method for selecting values for the parameters of an impedance appropriate for deburring is developed by describing the robot’s task as an optimization problem. This method yields simple expressions relating the target impedance parameters to tolerances on the interface forces between the tool and the workpiece and tolerances on the desired motion of the tool.