Online trajectory planning for nonstiff robotic deburring machines based on dynamic movement primitives method

Download

index.pdf

Date

2018

Author

Uğurlu, Musab Çağrı

Metadata

Show full item record

Item Usage Stats

189
views

202
downloads

Robotic deburring has an advance of precise and repeatable machining process on specific surface profiles. However, different from traditional deburring, deburring robots require generated trajectories on a workpiece with unknown chip thickness, which is a hard task due to the low stiffness of robot arm and abrasive tool used. This study presents a method for planning the online trajectory of a deburring robot by considering tool deflection based on the motion primitives trained from offline trajectories. From offline trajectories, task-related movements of 6-DoF deburring robot and interaction forces between the tool and the known workpiece while performing the deburring process are recorded. Then, by utilizing the laser scanner, the surface of the workpiece is measured after the deburring process in order to determine the difference between the actual depth of cut of the workpiece and given set depth of cut. The remained material is mainly because of the low stiffness of the tool which creates tool deflection. Using force data as perception and remained material as action, Dynamic Movement Primitives method is modified, then trained and used to predict deflection on the tool. The linear deflection and angular deviation compensation are performed in order to make adjustments on the trajectory while performing the deburring operation online. Finally, the form error results of the robotic deburring process with DMP is compared with three other processes; Standard robotic deburring process, robotic deburring with PID control and robotic deburring with Active Disturbance Rejection control.

Subject Keywords

Robotics., Deburring., Trajectories (Mechanics).

URI

http://etd.lib.metu.edu.tr/upload/12622762/index.pdf
https://hdl.handle.net/11511/27650

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Surfactant-modified multiscale composites for improved tensile fatigue and impact damage sensing Yesil, Sertan; Winkelrnann, Charles; Bayram, Göknur; La Saponara, Valeria (Elsevier BV, 2010-10-25) This paper documents the mechanical and electrical performance of self-sensing conductive polymer composites prepared with a low-cost technique and small hardware, able to considerably improve the dispersion and the surface adhesion of multi-walled carbon nanotubes (CNTs) in epoxy resin with respect to amine-modified CNTs and as-received CNTs. Surface treatment of the CNTs is performed using hexamethylene diamine, or a mix of sulfuric and nitric acid, and one of two surfactants (for the diamine treatment on...
Active compliance control structure design for a robotic-grinding machine Dönder, Abdülhamit; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2017) Grinding operation has an advantage of precise form shaping in machining processes. However, if the surface profile is not known before the machining process, it is hard to obtain an accurate surface profile using a grinding operation. In this work, a novel method to compensate the form shaping errors in grinding operations due to the lack of a priori knowledge of the surface profile will be presented. Grinding operation on a workpiece with an unknown surface profile is aimed. Compliance force control is im...
Fabrication of microfluidic devices for dielectrophoretic and acoustophoretic applications using high precision machining Soheila, Zenaili; Çetin, Barbaros; Özer, Mehmet Bülent; Süleyman, Büyükkoçak (2014-07-03) In this study, the fabrication of microfluidic devices for dielectrophoretic and acoustophoretic based applications with high-precision CNC machining has been presented. For both devices, molds out of stainless steel have been fabricated, and polymer molding is implemented. For dielectrophoretic device, the metal electrodes have been fabricated using high-precision machining and embedded into the device during the molding process. For acoustophoretic device, piezoelectric slides have been embedded into the ...
Investigating the effects of hardening of aluminium alloys on equal-channel angular pressing-A finite-element study Karpuz, P.; Simsir, C.; Gür, Cemil Hakan (Elsevier BV, 2009-03-15) Equal-channel angular pressing (ECAP) is a promising severe plastic deformation method for production of ultrafine-grained bulk metals and alloys with considerably improved mechanical properties. In this study, numerical experiments were carried out to investigate the effect of strain hardening of aluminum alloys on the process performance of ECAP via finite element modeling. In the constitutive model, isothermal-plane strain, frictionless condition was assumed. The numerical results showed that strain hard...
Evaluation of compression algorithms for motion command generation Yaman, Ulaş; Dölen, Melik (2011-04-15) This paper focuses on a direct command generation technique for Computer Numerical Control (CNC) machine systems. In this paradigm, higher-order differences of a given trajectory (i.e, position) are computed and the resulting data are compacted via data compression techniques. As a part of the command generation scheme, the paper also introduces a new data compression technique titled ΔY10. Apart from this new method, the performances of the proposed generator employing different compression algorithms (suc...

Citation Formats

M. Ç. Uğurlu, “Online trajectory planning for nonstiff robotic deburring machines based on dynamic movement primitives method,” M.S. - Master of Science, Middle East Technical University, 2018.