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Increasing Time-Efficiency and Accuracy of Robotic Machining Processes Using Model-Based Adaptive Force Control

Sörnmo, Olof LU ; Olofsson, Björn LU ; Robertsson, Anders LU and Johansson, Rolf LU (2012) 10th International IFAC Symposium on Robot Control In 10th IFAC Symposium on Robot Control p.543-548
Abstract
Machining processes in the industry of today are rarely performed using industrial robots. In the cases where robots are used, machining is often performed using position control with a conservative feed-rate, to avoid excessive process forces. There is a great benefit in controlling the process forces instead, so as to improve the time-efficiency by applying the maximum allowed force, and thus removing the maximum amount of material per time unit. This paper presents a novel adaptive force controller, based on a derived model of the machining process and an identified model of the robot dynamics. The controller is evaluated in both simulation and an experimental setup. Further, industrial robots generally suffer from low stiffness, which... (More)
Machining processes in the industry of today are rarely performed using industrial robots. In the cases where robots are used, machining is often performed using position control with a conservative feed-rate, to avoid excessive process forces. There is a great benefit in controlling the process forces instead, so as to improve the time-efficiency by applying the maximum allowed force, and thus removing the maximum amount of material per time unit. This paper presents a novel adaptive force controller, based on a derived model of the machining process and an identified model of the robot dynamics. The controller is evaluated in both simulation and an experimental setup. Further, industrial robots generally suffer from low stiffness, which can cause the robot to deviate from the desired path because of strong process forces. The present paper solves this by employing a stiffness model to continuously modify the robot trajectory to compensate for the deviations. The adaptive force controller in combination with the stiffness compensation is evaluated in experiments, with satisfying results. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
10th IFAC Symposium on Robot Control
pages
543 - 548
publisher
IFAC
conference name
10th International IFAC Symposium on Robot Control
external identifiers
  • scopus:84880985067
ISBN
978-3-902823-11-3
DOI
10.3182/20120905-3-HR-2030.00065
language
English
LU publication?
yes
id
580e3068-f8ad-40a8-aae3-eaabf3721221 (old id 2834870)
date added to LUP
2012-06-25 08:58:33
date last changed
2017-07-09 04:41:24
@inproceedings{580e3068-f8ad-40a8-aae3-eaabf3721221,
  abstract     = {Machining processes in the industry of today are rarely performed using industrial robots. In the cases where robots are used, machining is often performed using position control with a conservative feed-rate, to avoid excessive process forces. There is a great benefit in controlling the process forces instead, so as to improve the time-efficiency by applying the maximum allowed force, and thus removing the maximum amount of material per time unit. This paper presents a novel adaptive force controller, based on a derived model of the machining process and an identified model of the robot dynamics. The controller is evaluated in both simulation and an experimental setup. Further, industrial robots generally suffer from low stiffness, which can cause the robot to deviate from the desired path because of strong process forces. The present paper solves this by employing a stiffness model to continuously modify the robot trajectory to compensate for the deviations. The adaptive force controller in combination with the stiffness compensation is evaluated in experiments, with satisfying results.},
  author       = {Sörnmo, Olof and Olofsson, Björn and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {10th IFAC Symposium on Robot Control},
  isbn         = {978-3-902823-11-3},
  language     = {eng},
  pages        = {543--548},
  publisher    = {IFAC},
  title        = {Increasing Time-Efficiency and Accuracy of Robotic Machining Processes Using Model-Based Adaptive Force Control},
  url          = {http://dx.doi.org/10.3182/20120905-3-HR-2030.00065},
  year         = {2012},
}