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Cost-efficient drilling using industrial robots with high-bandwidth force feedback

Olsson, Tomas LU ; Haage, Mathias LU ; Kihlman, Henrik; Johansson, Rolf LU ; Nilsson, Klas LU ; Robertsson, Anders LU ; Björkman, Mats; Isaksson, Robert; Ossbahr, Gilbert and Brogårdh, Torgny (2010) In Robotics and Computer-Integrated Manufacturing 26. p.24-38
Abstract
Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the workpiece surface, an undesired effect that is due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance also makes the robot deflect due to the cutting forces, resulting in poor hole position accuracy and to some extent in poor hole quality. Recently, functionality for high-bandwidth force control has found its way into industrial robot control... (More)
Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the workpiece surface, an undesired effect that is due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance also makes the robot deflect due to the cutting forces, resulting in poor hole position accuracy and to some extent in poor hole quality. Recently, functionality for high-bandwidth force control has found its way into industrial robot control systems. This could potentially open up the possibility for robotic drilling systems with improved performance, using only standard systems without excessive extra hardware and calibration techniques. Instead of automation with expensive fixtures and precise machinery, our approach was to make use of standard low-cost robot equipment in combination with sensor feedback. The resulting sliding suppression control results in greatly improved hole positioning and quality. The conceptual idea behind the force control is useful also in

many other robotic applications requiring external sensor feedback control. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
High-precision drilling, Force control, Feedback, Industrial robotics, Motion control
in
Robotics and Computer-Integrated Manufacturing
volume
26
pages
24 - 38
publisher
Elsevier
external identifiers
  • WOS:000271620900003
  • Scopus:74249084477
ISSN
0736-5845
DOI
10.1016/j.rcim.2009.01.002
language
English
LU publication?
yes
id
04ea3df8-a0bd-4d38-87d0-ddd9f1cdde7a (old id 1451868)
date added to LUP
2009-07-30 09:22:30
date last changed
2016-11-13 04:28:04
@misc{04ea3df8-a0bd-4d38-87d0-ddd9f1cdde7a,
  abstract     = {Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the workpiece surface, an undesired effect that is due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance also makes the robot deflect due to the cutting forces, resulting in poor hole position accuracy and to some extent in poor hole quality. Recently, functionality for high-bandwidth force control has found its way into industrial robot control systems. This could potentially open up the possibility for robotic drilling systems with improved performance, using only standard systems without excessive extra hardware and calibration techniques. Instead of automation with expensive fixtures and precise machinery, our approach was to make use of standard low-cost robot equipment in combination with sensor feedback. The resulting sliding suppression control results in greatly improved hole positioning and quality. The conceptual idea behind the force control is useful also in <br/><br>
many other robotic applications requiring external sensor feedback control.},
  author       = {Olsson, Tomas and Haage, Mathias and Kihlman, Henrik and Johansson, Rolf and Nilsson, Klas and Robertsson, Anders and Björkman, Mats and Isaksson, Robert and Ossbahr, Gilbert and Brogårdh, Torgny},
  issn         = {0736-5845},
  keyword      = {High-precision drilling,Force control,Feedback,Industrial robotics,Motion control},
  language     = {eng},
  pages        = {24--38},
  publisher    = {ARRAY(0x95c0ea0)},
  series       = {Robotics and Computer-Integrated Manufacturing},
  title        = {Cost-efficient drilling using industrial robots with high-bandwidth force feedback},
  url          = {http://dx.doi.org/10.1016/j.rcim.2009.01.002},
  volume       = {26},
  year         = {2010},
}