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Cost-efficient drilling using industrial robots with high-bandwidth force feedback
Department of Automatic Control, Lund University, Lund and ABB Robotics, Department RC and ABB Corporate Research, Västerås, Sweden.
Department of Computer Science, Lund University, Lund, Sweden.
Linköping University, Department of Management and Engineering, Assembly technology. Linköping University, The Institute of Technology. DELFOi, Göteborg, Sweden.
Department of Automatic Control, Lund University, Lund, Sweden.
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2010 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, Vol. 26, no 1, 24-38 p.Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Elsevier, 2010. Vol. 26, no 1, 24-38 p.
Keyword [en]
High-precision drilling, Force control, Feedback, Motion control, Industrial robotics
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-52371DOI: 10.1016/j.rcim.2009.01.002ISI: 000271620900003OAI: diva2:282064
Available from: 2009-12-18 Created: 2009-12-18 Last updated: 2014-03-07Bibliographically approved

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Kihlman, HenrikBjörkman, MatsOssbahr, Gilbert
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Assembly technologyThe Institute of Technology
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