Robotic Deburring Using a Fuzzy Force Controller
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.
KeywordsFuzzy Logic Force Control Fuzzy Inference System Fuzzy Logic Controller Force Error
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