A human mimicking control strategy for robotic deburring of hard materials

Villagrossi, Enrico; Pedrocchi, Nicola; Beschi, Manuel; Tosatti, Lorenzo Molinari

doi:10.1080/0951192x.2018.1447688

Cited by 22 publications

(16 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In their method, path governor function was developed to address non-linear effects of robot joint friction. Villagrossi et al [25] proposed a control strategy to copy a human-like operation based on force feedback in deburring of hard material. In their method, the nominal deburring trajectory was adjusted and deformed making multiple repetitions until the nominal deburring path was completed.…”

Section: Low-mrr Operationsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

248

View full text Add to dashboard Cite

For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

show abstract

Section: Low-mrr Operationsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

248

View full text Add to dashboard Cite

show abstract

“…The control methods can be categorized in two major approaches: impedance control and hybrid position/force control [128]. Examples of control applications are, for instance: the robot path generation method using hybrid force and visual servoing for reducing programming time [129]; tool-path modification based on direct teaching over the workpiece with a force control in normal/tangential direction [130]; the control strategy of mimicking human behavior during manual deburring [131].…”

Section: Deburringmentioning

confidence: 99%

Robots in machining

et al. 2019

View full text Add to dashboard Cite

Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task.

show abstract

“…In a deburring operation, the robot will move its tool along a nominal path around the object, and will deflect when the tool hits a burr. Several repetitions will need to be done until no deviations are measured [29].…”

Section: A Force Controlmentioning

confidence: 99%

Deburring Using Robot Manipulators: A Review

Onstein

Semeniuta

Bjerkeng

2020

2020 3rd International Symposium on Small-Scale Intelligent Manufacturing Systems (SIMS)

View full text Add to dashboard Cite

Deburring of cast parts can be a very challenging task. Today, large burrs on large casting are mostly removed manually. Workers are exposed to hazardous working conditions through, among other things, high noise and vibration levels. Special purpose CNC-machines are available for deburring tasks, but they have a high investment cost that makes them unfit for high-mix low-volume processes. Deburring with robot manipulators are seen as a suitable and less expensive alternative, and have been in the focus of research topic for the last 50 years. Unfortunately, it has failed to move from research into industrial applications. One reason is the long system setup time that makes the cost of automatic deburring too high. This paper deals with the status and usage of robot manipulators in deburring applications with a focus on solutions for cast parts. The deburring pipeline and its components are investigated. There is a special focus on the solutions that lead to a more flexible and automatic deburring system by using sensors such as laser, vision and force control. The solutions are evaluated with regards to the current challenges with robotic deburring and what needs to be improved for robotic deburring to become available for high-mix low-volume processes.

show abstract

A human mimicking control strategy for robotic deburring of hard materials

Cited by 22 publications

References 18 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Robots in machining

Deburring Using Robot Manipulators: A Review

Contact Info

Product

Resources

About