Application of a rule self-regulating fuzzy controller for robotic deburring on unknown contours
Most metal parts made by machining operations contain burrs, which can be removed by robotic manipulators. Modeling a deburring robot on unknown contours is a relatively difficult task. In this study, we present a novel compliant motion controller that uses a modified on-line rule self-regulating fuzzy control (RSFC) and depends on no mathematical models. In the proposed controller, a Cartesian robot on which a grinding tool is mounted rigidly performs edge following (precision deburring) and chamfering on unknown contours. The manipulator is controlled along the tangential direction of a constrained surface and its cutting force is maintained at a desired level. Experimental results demonstrate the effectiveness of this control strategy in terms of automatically deburring the edges of parts with an unknown geometrical configuration. (C) 2000 Elsevier Science B.V. All rights reserved.
fuzzy control deburring compliant motion