A systematic approach to develop a force control system for robotic drilling

摘要

As the application range of present day industrial robots is expanded beyond pick‐and‐place operations, spray painting and spot welding, there is an increasing need for the control of contact forces between the manipulator end point and environment. One important force control task is robotic drilling in hazardous environments. This paper addresses the analysis and characterisation of forcecontrolled robotic drilling, generation of a control strategy in the light of specifications obtained from the characterisation of this task, and the completion of a drilling operation with robot manipulator under contact force control. The experimental results demonstrate that a robot manipulator can perform drilling if enough contact thrust‐force is provided between a workpiece and drill, and is controlled properly. It follows that the analysis and characterisation of a task, especially investigation of the dynamic interactions between the tool carried by a manipulator and a workpiece, strategy generation, and controller design proceed simultaneously in order to develop a force control system for a specific task.