A mechatronic approach for robotic deburring
This paper deals with the implementation of a mechatronic methodology for the robotic deburring of planar workpieces with an unknown shape performed by an industrial manipulator. The approach is based on the use of a hybrid force/velocity control law and on a correlated suitable design of the deburring tool. Experimental results, obtained with a two degrees- of-freedom SCARA industrial robot manipulator, show the effectiveness of the method. (C) 2007 Elsevier Ltd. All rights reserved.
deburring hybrid force/velocity control industrial robot manipulators