AUTOMATIC DEBURRING UTILIZING A REAL-TIME IMPEDANCE CONTROL STRATEGY

The design, development and testing of a new and improved real-time active impedance control system and its applications in deburring processes are presented. This control system is capable of simulating an active compliant device (mass, spring, and dashpot) to accommodate the effects of the normal interaction forces occurring during the deburring operation. Another useful feature of this control system is that it provides a bandwidth of 25 Hz. The mass, stiffness, and damping coefficients of the impedance controller can be selected or modified, and input by the user via a personal computer to study different behavior patterns in the controlled system. Results of actual deburring tests using this impedance controller incorporating both force and position control strategies are included.