Study On The Impedance Control For Robotic Deburring

Research on burr removal is the need of increasing the product performance and decreasing time consume. Compared to other deburring method, using robotic manipulators has more advantages for complicated parts and medium-sized or large-sized parts. Force control is the most important aspect in the current studies on robot robotic deburring. This thesis, which grounds on the above point of view, studies the active force control for robot deburring task.In the beginning of the thesis, the process of the deburring using robotic is described. Based on a large number of references, data and documents, a comprehensive comment is made on the robotic force tactile intelligence, and the key problems for force tactile control of robotics manipulators are given in this thesis. The present situation and the development of force control for automated robotic deburring are summarized. The dynamical model of robotic manipulator plays a crucial rote to the whole robotic system. The forward and inverse kinematics of robotic manipulator are examined based on a Puma 560 robot. The dynamical model of the Puma 560 robot is developed by Lagrange method. And the position control of the Puma 560 robot is simulated. Position Based Impedance Control (PBIC) is introduced into robotic deburring process after the analysis of commonly studied robot active force control methods is made. Based on this scheme, an emulational system for robotic deburring is found. An impedance force tracking control method is used to improve the performance of track desired force and offline and online methods of environmental parameters estimation are given. It can be seen that the contour of chamfered surface is a replication of the original surface when using constant impedance parameters. In the thesis a fuzzy impedance controller is applied in which the impedance parameters can be adjusted according to position increment and position deviation. To demonstrate the...