Application of a rule self-regulating fuzzy controller for robotic deburring on unknown contours

✍ Scribed by Seng-Chi Chen; Pi-Cheng Tung

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 723 KB
• Volume: 110
• Category: Article
• ISSN: 0165-0114
• DOI: 10.1016/s0165-0114(98)00190-0

✦ Synopsis

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 di cult task. In this study, we present a novel compliant motion controller that uses a modiÿed 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 e ectiveness of this control strategy in terms of automatically deburring the edges of parts with an unknown geometrical conÿguration.