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Robotic machining from programming to process control: a complete solution by force control

Journal Article


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Abstract


  • Purpose – This paper aims to present the critical issues and methodologies to improve robotic machining performance with flexile industrial robots.

    Design/methodology/approach – A complete solution using active force control is introduced to address various issues during the robotic machining process.

    Findings – Programming complex couture parts without a CAD model is made easy by using force control functions such as lead-through and path-learning. The problem of process control is treated with a novel methodology that consists of stiffness modeling, real-time deformation compensation for quality and controlled material removal rate for process efficiency.

    Originality/value – Experimental results showed that higher productivity as well as better surface quality can be achieved, indicating a promising and practical use of industrial robots for machining applications that is not available at present.

UOW Authors


Publication Date


  • 2008

Citation


  • Pan, Z. & Zhang, H. 2008, 'Robotic machining from programming to process control: a complete solution by force control', Industrial Robot, vol. 35, no. 5, pp. 400-409.

Scopus Eid


  • 2-s2.0-50849120810

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2605&context=infopapers

Ro Metadata Url


  • http://ro.uow.edu.au/infopapers/1585

Has Global Citation Frequency


Number Of Pages


  • 9

Start Page


  • 400

End Page


  • 409

Volume


  • 35

Issue


  • 5

Abstract


  • Purpose – This paper aims to present the critical issues and methodologies to improve robotic machining performance with flexile industrial robots.

    Design/methodology/approach – A complete solution using active force control is introduced to address various issues during the robotic machining process.

    Findings – Programming complex couture parts without a CAD model is made easy by using force control functions such as lead-through and path-learning. The problem of process control is treated with a novel methodology that consists of stiffness modeling, real-time deformation compensation for quality and controlled material removal rate for process efficiency.

    Originality/value – Experimental results showed that higher productivity as well as better surface quality can be achieved, indicating a promising and practical use of industrial robots for machining applications that is not available at present.

UOW Authors


Publication Date


  • 2008

Citation


  • Pan, Z. & Zhang, H. 2008, 'Robotic machining from programming to process control: a complete solution by force control', Industrial Robot, vol. 35, no. 5, pp. 400-409.

Scopus Eid


  • 2-s2.0-50849120810

Ro Full-text Url


  • http://ro.uow.edu.au/cgi/viewcontent.cgi?article=2605&context=infopapers

Ro Metadata Url


  • http://ro.uow.edu.au/infopapers/1585

Has Global Citation Frequency


Number Of Pages


  • 9

Start Page


  • 400

End Page


  • 409

Volume


  • 35

Issue


  • 5