Force Controlled Grinding-The Cutting Edge
(2009) In MSc ThesesDepartment of Automatic Control
- Abstract
- Sharpening knives by hand is both time-consuming and exhausting, and may still not always yield perfect results. This thesis investigates the possibility of sharpening knives with the use of a force-controlled industrial robot, regardless of the knifes shape. The procedure is performed by first identifying the shape of the knife, using Matlab Simulink to simulate the identifiation; two different types of force control are evaluated. Using an ABB IRB140B robot, the best performing controller is then used to identify a real knife. Based on the shape recorded by the robot, grinding experiments were successfully performed.
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8847581
- author
- Sörnmo, Olof
- supervisor
- organization
- year
- 2009
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- MSc Theses
- report number
- TFRT-5848
- ISSN
- 0280-5316
- language
- English
- id
- 8847581
- date added to LUP
- 2016-03-17 09:53:15
- date last changed
- 2016-03-17 09:53:15
@misc{8847581, abstract = {{Sharpening knives by hand is both time-consuming and exhausting, and may still not always yield perfect results. This thesis investigates the possibility of sharpening knives with the use of a force-controlled industrial robot, regardless of the knifes shape. The procedure is performed by first identifying the shape of the knife, using Matlab Simulink to simulate the identifiation; two different types of force control are evaluated. Using an ABB IRB140B robot, the best performing controller is then used to identify a real knife. Based on the shape recorded by the robot, grinding experiments were successfully performed.}}, author = {{Sörnmo, Olof}}, issn = {{0280-5316}}, language = {{eng}}, note = {{Student Paper}}, series = {{MSc Theses}}, title = {{Force Controlled Grinding-The Cutting Edge}}, year = {{2009}}, }