Analysis and implementation of a force control strategy for drilling operations with an industrial robot

Rosa, Diego Gabriel Gomes; Feiteira, José Flávio Silveira; Lopes, António M.; Abreu, Paulo

doi:10.1007/s40430-017-0913-7

Cited by 14 publications

(8 citation statements)

References 12 publications

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“…Similar research can be found in the work of Klimchik A. et al [24], but they used the stiffness model proposed by Pashkevich A. et al, [12]. In the case of drilling process control, we found the works of Garnier S. et al [25] and Gomes D. et al [18], both emphasized that the control of the process should be carried out in three phases; the first contact or indent phase, the material removal phase and the final contact phase. The first work realized a theoretical model estimating the force of each phase and thus compensating the trajectory.…”

Section: Control Of the Machining Processsupporting

confidence: 77%

See 1 more Smart Citation

A Study on Robot Arm Machining: Advance and Future Challenges

Pérez¹,

Rubert²,

Zotovic³

2018

Proceedings of the 29th International DAAAM Symposium 2018

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Nowadays, it is not uncommon to find news and research about robotic machining applications, as milling and drilling. The flexibility, programmability and low price of robots, conversely to CNC machines, makes robotic machining an interesting opportunity for manufacturing of large parts. In this paper, the authors show the current advances on developments of robotic machining and a theoretical framework of the process, evidencing its weaknesses and strengths. Since the low stiffness of robots is their main disadvantage, the target of researchers is to improve this characteristic, and therefore avoid adverse effects like vibration, which influences the machining accuracy. The last developments can be categorized according to their research field: modelling and control of the process, robot workspace optimization, redundancy analysis, vibrating/chatter analysis and new designs and methodologies for the improvement of machining. These researches increase the efficiency and accuracy of the process with the goal to convert robots in a real alternative to CNC machines. In fact, the authors are working on the aim of proposing a characterization of several machining operations with robots, considering a force/torque control that provide the system a feedback with the improved stiffness matrix to correct errors and improve the accuracy during machining.

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Section: Control Of the Machining Processsupporting

confidence: 77%

“…Specifically, we will find force controls, force/position controls and impedance controls. These control types are used with adaptive, robust, intelligent or classical control methods or techniques [18].…”

Section: Control Of the Machining Processmentioning

confidence: 99%

A Study on Robot Arm Machining: Advance and Future Challenges

Pérez¹,

Rubert²,

Zotovic³

2018

Proceedings of the 29th International DAAAM Symposium 2018

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“…Qin et al [134] developed a robot drilling system, in which two accelerometer sensors were used to obtain the vibration signals of the EE which was analysed to calculate the location and orientation errors. Rosa et al [135] developed a force control strategy to enhance the application possibility of robot drilling. The method was used to improve drilling quality by assuring the thrust force, and to reduce the sliding during the first contact between the twist drill and the workpiece.…”

Section: Monitoring and Compensationmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

244

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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.

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“…On the other hand, modern industrial robots are characterized by flexibility of applications, large working spaces and low cost. However, their constructive characteristics like low stiffness and complexity of programming lead to disadvantages compared to conventional CNC machine tools [10][11][12][13][14][15][16][17][18]. Robot structure stiffness modeling and analysis, synthesis and control in machining tasks are in the focus of interest among many researchers [11,12,14,15,[19][20][21][22].…”

Section: Outline Of the Conceptmentioning

confidence: 99%

Simulation of compensated tool path through virtual robot machining model

Slavković

Živanović

Kokotović

et al. 2020

J Braz. Soc. Mech. Sci. Eng.

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Nowadays, industrial robots could be a successful alternative to machine tools for milling of large parts with complex geometry. As it is known, poor accuracy which is most influenced by the stiffness of robot structure is recognized as a limiting factor for successful use of robots in milling tasks. Since there are different sources of error in robots, virtual manufacturing systems provide a useful means for products to be manufactured without the need of physical testing on the shop floor. This paper presents the developed virtual robot machining model, as a part of digital twin, for the simulation of a modified tool path generated by the compensation algorithm for the errors induced by cutting forces due to robot compliance. This part of digital twin includes the robot kinematic model, the Cartesian space robot compliance model, the model of cutting forces and the developed program based on off-line compensation algorithm. Development of such virtual robot machining model is important for the validation of modified tool path before the machining on a real robot. The developed virtual robot machining model is verified via several experiments, where the simulated surfaces are compared with the real machined surfaces generated by tool movement through a modified, i.e., corrected, trajectory on an available industrial robot programmed in G-code.

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Analysis and implementation of a force control strategy for drilling operations with an industrial robot

Cited by 14 publications

References 12 publications

A Study on Robot Arm Machining: Advance and Future Challenges

A Study on Robot Arm Machining: Advance and Future Challenges

Industrial robotic machining: a review

Simulation of compensated tool path through virtual robot machining model

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