A Study on the Force Control of a Robot Manipulator in the Deburring Process

디버링 작업을 위한 로봇 매니퓰레이터의 힘 제어에 관한 연구

In this paper, the external force control and hybrid force control algorithms are proposed to apply Deburring process. the purpose of adjust which can be implemented to on unknown environments, adaptive control law(MRAC) is adopted. IF a model system is given, the plant system can be controlled on the way which we will introduce to. We showed the validation and the possibility of Deburring process with multi-dimensional force control through experiments. the experimental result show the validity of Deburring in the robot manipulator.