Cost-efficient drilling using industrial robots with high-bandwidth force feedback
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- 作者：Tomas Olsson ; Mathias Haage ; Henrik Kihlman ; Rolf Johansson ; Klas Nilsson ; Anders Robertsson ; Mats Bjö ; rkman ; Robert Isaksson ; Gilbert Ossbahr ; Torgny Brogå ; rdh
- 关键词：High-precision drilling ; Force control ; Feedback ; Motion control ; Industrial robotics
- 刊名：Robotics and Computer-Integrated Manufacturing
- 出版年：2010
- 出版时间：February 2010
- 年：2010
- 卷：26
- 期：1
- 页码：24-38
- 全文大小：2020 K
文摘
Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp-up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the work-piece surface, an undesired effect that is due to the comparatively low mechanical stiffness of typical serial industrial robots. This compliance also makes the robot deflect due to the cutting forces, resulting in poor hole position accuracy and to some extent in poor hole quality. Recently, functionality for high-bandwidth force control has found its way into industrial robot control systems. This could potentially open up the possibility for robotic drilling systems with improved performance, using only standard systems without excessive extra hardware and calibration techniques. Instead of automation with expensive fixtures and precise machinery, our approach was to make use of standard low-cost robot equipment in combination with sensor feedback. The resulting sliding suppression control results in greatly improved hole positioning and quality. The conceptual idea behind the force control is useful also in many other robotic applications requiring external sensor feedback control.