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Flexible force control for accurate low-cost robot drilling

Olsson, Thomas LU ; Robertsson, Anders LU and Johansson, Rolf LU (2007) IEEE International Conference on Robotics and Automation, 2007 In 2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D) p.4770-4775
Abstract
The problem of robot drilling presents a significant challenge, due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance makes the robot deflect due to the cutting forces, resulting 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 of robotic drilling systems with improved performance, using only standard systems without costly extra hardware and calibration techniques. In this paper, we present methods and systems for force-controlled robot drilling, based on active suppression of drill sliding through a model-based force control scheme. The methods are validated... (More)
The problem of robot drilling presents a significant challenge, due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance makes the robot deflect due to the cutting forces, resulting 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 of robotic drilling systems with improved performance, using only standard systems without costly extra hardware and calibration techniques. In this paper, we present methods and systems for force-controlled robot drilling, based on active suppression of drill sliding through a model-based force control scheme. The methods are validated in a number of drilling experiments using an industrial robot. (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
keywords
serial industrial robots, mechanical stiffness, flexible force control, robot drilling, model-based force control
in
2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Robotics and Automation, 2007
external identifiers
  • wos:000250915304122
  • scopus:36348983951
DOI
10.1109/ROBOT.2007.364214
language
English
LU publication?
yes
id
7f34cb1c-1e73-4c31-8669-308dd9db0253 (old id 643439)
date added to LUP
2007-12-04 11:43:45
date last changed
2017-07-02 04:41:16
@inproceedings{7f34cb1c-1e73-4c31-8669-308dd9db0253,
  abstract     = {The problem of robot drilling presents a significant challenge, due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance makes the robot deflect due to the cutting forces, resulting 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 of robotic drilling systems with improved performance, using only standard systems without costly extra hardware and calibration techniques. In this paper, we present methods and systems for force-controlled robot drilling, based on active suppression of drill sliding through a model-based force control scheme. The methods are validated in a number of drilling experiments using an industrial robot.},
  author       = {Olsson, Thomas and Robertsson, Anders and Johansson, Rolf},
  booktitle    = {2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)},
  keyword      = {serial industrial robots,mechanical stiffness,flexible force control,robot drilling,model-based force control},
  language     = {eng},
  pages        = {4770--4775},
  publisher    = {IEEE--Institute of Electrical and Electronics Engineers Inc.},
  title        = {Flexible force control for accurate low-cost robot drilling},
  url          = {http://dx.doi.org/10.1109/ROBOT.2007.364214},
  year         = {2007},
}