Flexible force control for accurate low-cost robot drilling

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

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.

Details

Authors
Organisations
Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering

Keywords

  • serial industrial robots, mechanical stiffness, flexible force control, robot drilling, model-based force control
Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation (IEEE Cat No. 07CH37836D)
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Pages4770-4775
Number of pages6
Publication statusPublished - 2007
Publication categoryResearch
Peer-reviewedYes
EventIEEE International Conference on Robotics and Automation, 2007 - Roma, Italy
Duration: 2007 Apr 102007 Apr 14

Conference

ConferenceIEEE International Conference on Robotics and Automation, 2007
CountryItaly
CityRoma
Period2007/04/102007/04/14

Related projects

Rolf Johansson & Klas Nilsson

2004/01/012006/12/31

Project: Research

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