Analysis and implementation of a force control strategy for drilling operations with an industrial robot

• Type: Article in International Scientific Journal
• Date: 2017

Authors

Gomes Rosa, DGG (Author) Other; Silveira Feiteira, JFS (Author) Other; António Mendes Lopes (Author) FEUP; Paulo Abreu (Author) FEUP

Journal

Title: Journal of the Brazilian Society of Mechanical Sciences and Engineering

Vol. 39

Pages: 4749-4756

ISSN: 1678-5878

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 9 Citations

Scopus - 12 Citations

Other information

Authenticus ID: P-00N-2P6

DOI: 10.1007/s40430-017-0913-7

Abstract (EN): In this paper, a theoretical and experimental study to evaluate the use of force control in drilling operations, based on an industrial robot, is presented. A force control strategy embedded in a commercial industrial robot, originally devoted to general machining tasks, is adapted to drilling operations. It is shown that satisfactory results can be achieved in standard industrial applications. Unwanted displacements can occur, resulting in dimensional uncertainty, especially in specimens with very small dimensions. Nevertheless, the implemented force control is able to avoid the risks of failure in the material, and to minimize the operating time in several industrial drilling processes.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8