TITLE:
Application and Analysis of Force Control Strategies to Deburring and Grinding
AUTHORS:
Frank Domroes, Carsten Krewet, Bernd Kuhlenkoetter
KEYWORDS:
Robot Machining; Deburring; Grinding; Force Control Strategies
JOURNAL NAME:
Modern Mechanical Engineering,
Vol.3 No.2A,
June
21,
2013
ABSTRACT: This paper aims to give an insight into the development and evaluation of force controlled machining processes with a commercially available setup. We will focus on a deburring and a grinding scenario, representing the major applications in today’s robot machining. Whereas the deburring use-case implements a force dependent feed-rate control, the grinding use-case implements an orthogonal force (pressure) control. Both strategies will be evaluated and the influence of general machining and robot specific parameters will be discussed.