A NEW APPROACH FOR TOOL PATH CONTROL IN ROBOTIC DEBURRING OPERATIONS

摘要

Robotic deburring has been used by industries to automate the manual operation, which is a constant source of problems related to lack of productivity and high risk of accidents. However, the automation of the deburring operation is not a trivial task. The high interaction between the tool and the workpiece, associated with the inconsistency of the burr formation, represents a big challenge to the programming and controlling system applied to the robots. This paper proposes a complete framework for an efficient robotic deburring implementation. The framework aims to integrate all the steps of the robotic implementation: trajectory programming for efficient burr removal, contact evaluation and definition of the control parameters, and finally the online trajectory control. The proposed controller combines two signals into a new parameter, Fast Abrasive Power (FAP), which represents a modularization of the power level by the ratio between instantaneous acoustic emission (AE) and average AE calculated over the last n points. The new fast power parameter maintains the reliability of the original power signal and incorporates the dynamics of the AE signal.