Romansy 13 pp 439-445 | Cite as

Robotic Deburring Using a Fuzzy Force Controller

  • Robert Bicker
  • Kevin Burn
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


Most industrial robots are designed to operate as position servo-controlled manipulators, which is appropriate if the robot is to simply follow a predefined trajectory in free space. However, if the robot’s end-effector comes into contact with the environment, then position control generally will not suffice. Stability becomes a major issue when the robot end-effector becomes highly constrained, and the success of the operation is largely dependent upon the correct selection of the gains in the force control algorithm. These gains are themselves dependent upon the compliance at the task interface, and another major difficulty occurs when this is unknown or varying. This paper describes the application of fuzzy logic in the development of an industrial robot force controller, primarily used for robotic deburring operations. Experimental results illustrate the effectiveness of the controller’s self-adjusting gain strategy, and the ability of the robot to successfully carry out a deburring operation.


Fuzzy Logic Force Control Fuzzy Inference System Fuzzy Logic Controller Force Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Robert Bicker
    • 1
  • Kevin Burn
    • 2
  1. 1.Department of Mechanical, Materials & Manufacturing EngineeringUniversity of NewcastleUK
  2. 2.School of Computing, Engineering & TechnologyUniversity of SunderlandUK

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