Edge finishing using hybrid position/force control of an XY table

The authors describe the use of a direct-drive XY table in the automated edge finishing of machined parts. The table is faster and more accurate than an articulated robot, and where planar motion in a small work area is sufficient it is preferable. Hybrid position/force control is used to guide the table past the tool and maintain the contact force at the desired level. A six-axis force sensor on the tool spindle is used to measure contact force. A dynamic model is identified for the table from experimental measurements and this model is used to design a position/force controller for the table. An example application of the table in the deburring of an actual jet engine turbine hub is presented.<
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