Paper Title:
Modeling and Simulation of Robotic Material Removal Process in Uncertainty Environment
  Abstract

The interaction force and the environments uncertainties are the most challenges for robotic material removal process. The conventional constant force control methods for the deburring process have the inherent characteristic of leaving the deburred surface as an imprint of the original. A process force model considering the burrs variation is presented to predict the contact force in robotic machining process. A self-tuning fuzzy strategy is adopted to implement the on-line compensation for the static error caused by the traditional impedance controller. The fuzzy controller is adjusted by an updating factor to select the most appropriate fuzzy rule set based on the measured performance results. Simulation results show efficacy of the proposed method in robotic machining process, and the control performance is better than that of a traditional impedance controller.

  Info
Periodical
Materials Science Forum (Volumes 675-677)
Edited by
Yi Tan and Dongying Ju
Pages
1003-1006
DOI
10.4028/www.scientific.net/MSF.675-677.1003
Citation
X. L. Wang, Y. X. Cui, "Modeling and Simulation of Robotic Material Removal Process in Uncertainty Environment", Materials Science Forum, Vols. 675-677, pp. 1003-1006, 2011
Online since
February 2011
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Price
$32.00
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