Design and control of an end-effector for industrial finishing applications

•A 3-DOF end-effector module is developed for industrial finishing tasks.•The position controlled bandwidth is beyond 100 Hz.•Position based compliance control is implemented for environmental interactions.•Experimental results meet industrial requirements. A strategy to improve industrial finishing...

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Bibliographic Details
Published in:Robotics and computer-integrated manufacturing 2018-10, Vol.53, p.240-253
Main Authors: Ma, Zheng, Poo, Aun-Neow, Ang, Marcelo H., Hong, Geok-Soon, See, Hian-Hian
Format: Article
Language:English
Subjects:
Algorithms
Deburring
End-effector module
Finishing
Hybrid position/force control
Industrial manipulators
Macro-mini manipulators
Manipulators
Parallel mechanism
Robot arms
Robotics
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Summary:•A 3-DOF end-effector module is developed for industrial finishing tasks.•The position controlled bandwidth is beyond 100 Hz.•Position based compliance control is implemented for environmental interactions.•Experimental results meet industrial requirements. A strategy to improve industrial finishing applications using commercial robotic arms is presented in this paper. An end-effector is designed and prototyped as the mini manipulator, and is mounted at the end-point of a commercial robotic arm to form a macro-mini manipulator system. The developed end-effector has properties of fast response and high resolution in position control and force control. Position based force/impedance control algorithms of the end-effector are introduced, targeting on applications of polishing and deburring. Experiments are conducted by employing the integrated macro-mini manipulator system and the results are presented.
ISSN:0736-5845
1879-2537
DOI:10.1016/j.rcim.2018.04.010