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Force Controlled Grinding-The Cutting Edge

Sörnmo, Olof (2009) In MSc Theses
Department 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:
author
Sörnmo, Olof
supervisor
organization
year
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},
}