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Force-control-based robotic drilling in hazardous environments

Journal Article


Abstract


  • Successful completion of a force control task with a robot manipulator requires critical analysis of the task and investigation of the dynamic interactions between the tool carried by the manipulator and a workpiece. These generate a set of specifications that guide us in selecting a proper control strategy to complete the task. This paper presents the analysis and characterization of force-controlled robotic drilling, generation of a control strategy according to the specifications obtained from the characterization of this task, and the completion of a drilling operation with a manipulator under endpoint force control. The experimental results reveal that a robot manipulator can perform drilling if enough contact thrust-force is provided between a workpiece and drill, and is controlled properly. It is shown that the key parameters for robotic drilling are the drill rotational speed and thrust force. The torque-speed characteristics of the drill's motor are thus taken into account. The effects of varying the key parameters are evaluated using cutting time as a measure of performance. We conclude that a low cutting force and a high drill rotational speed is the best combination for the successful completion of a drilling operation using a robot manipulator.

Publication Date


  • 1996

Citation


  • Alici, G., & Daniel, R. W. (1996). Force-control-based robotic drilling in hazardous environments. International Journal of Robotics and Automation, 11(2), 62-73.

Scopus Eid


  • 2-s2.0-0029713345

Start Page


  • 62

End Page


  • 73

Volume


  • 11

Issue


  • 2

Abstract


  • Successful completion of a force control task with a robot manipulator requires critical analysis of the task and investigation of the dynamic interactions between the tool carried by the manipulator and a workpiece. These generate a set of specifications that guide us in selecting a proper control strategy to complete the task. This paper presents the analysis and characterization of force-controlled robotic drilling, generation of a control strategy according to the specifications obtained from the characterization of this task, and the completion of a drilling operation with a manipulator under endpoint force control. The experimental results reveal that a robot manipulator can perform drilling if enough contact thrust-force is provided between a workpiece and drill, and is controlled properly. It is shown that the key parameters for robotic drilling are the drill rotational speed and thrust force. The torque-speed characteristics of the drill's motor are thus taken into account. The effects of varying the key parameters are evaluated using cutting time as a measure of performance. We conclude that a low cutting force and a high drill rotational speed is the best combination for the successful completion of a drilling operation using a robot manipulator.

Publication Date


  • 1996

Citation


  • Alici, G., & Daniel, R. W. (1996). Force-control-based robotic drilling in hazardous environments. International Journal of Robotics and Automation, 11(2), 62-73.

Scopus Eid


  • 2-s2.0-0029713345

Start Page


  • 62

End Page


  • 73

Volume


  • 11

Issue


  • 2