Robust coordination control of a pneumatic deburring tool

An efficient robotic deburring method was developed based on an active pneumatic tool. The developed method considers the interaction among the tool, the manipulator, and the workpiece and couples the tool dynamics and a control design that considers deburring process information. The active pneumatic tool was developed based on a single pneumatic actuator, with a passive chamber to provide compliance and reduce chattering caused by air compressibility. A coordination control method was developed for the efficient control of the system, which adopts two-level hierarchical control structure based on a coordination scheme. Robust feedback linearization was utilized to minimize the undesirable effect of the disturbances, such as static and Coulomb frictions and the nonlinear compliance of the pneumatic cylinder stemming from air compressibility. The developed coordination control method demonstrated its efficacy in terms of deburring accuracy and speed. © 2006 Wiley Periodicals, Inc.

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