Position/force control of manipulator based on force measurement and its application to gear deburring

Article type: Research Article

Authors: Hu, Zhongxu | Bicker, Robert | Marshall, Christopher

Affiliations: School of Mechanical & Systems Engineering, University of Newcastle upon Tyne, UK

Note: [] Corresponding author. E-mail: [email protected]

Abstract: Robotic gear deburring is a relatively difficult task because traditional position/force control laws are not suitable due to the complicated geometry and inevitable system positioning error. A position/force control algorithm based on force measurement is investigated for unknown gear profile detection and tracking, and its further application to the deburring process. A PID type fuzzy logic controller is applied to deal with the non-linear contact force control problem, and a velocity compensated position control method is utilized to obtain a faster response. Experimental results are provided to verify the efficiency of the proposed control method.

Keywords: position/force control, profile detection, gear deburring, fuzzy PID

Journal: Journal of Intelligent & Fuzzy Systems, vol. 14, no. 4, pp. 215-223, 2003