Cart (Loading....) | Create Account
Close category search window
 

Sensing and control for automated robotic edge deburring

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Bone, G.M. ; Dept. of Mech. Eng., McMaster Univ., Hamilton, Ont., Canada ; Elbestawi, M.A.

This paper describes the sensing and control elements of a system for automated robotic edge deburring. The deburring path, automatically generated bp a task planner, is corrected on-line by an active end effector with the objective of controlling the chamfer depth. The sensing system combines the information from force and vision sensors during deburring to provide an improved depth measurement. The vision sensor is then used to verify the deburring performance during an inspection pass. The control system incorporates a new form of adaptive Generalized Predictive Control (GPC) combined with learning control, termed GPC with Learning (GPCL). The system is tested through computer simulations and deburring experiments. The experiments were performed on steel parts with one-dimensional (1-D) and two-dimensional (2-D) edges. For the 1-D edges the depth's standard deviation measured on-line was 0.015 mm with nonadaptive GPC, 0.009 mm with adaptive GPC, and 0.006 mm with adaptive GPCL. With adaptive GPCL and the 2-D edge the deviation was 0.017 mm. This was confirmed by the inspection pass measurements which reported a mean of 0.39 mm and a deviation of 0.019 mm.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:41 ,  Issue: 2 )

Date of Publication:

Apr 1994

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.