ROBOTIC SYSTEM WITH FORCE CONTROL FOR DRILLING OPERATIONS
Diego Gabriel Gomes Rosa1; José Flávio Silveira Feiteira1; Paulo Augusto Ferreira de Abreu2; António Manuel Ferreira Mendes Lopes2
1 UFF; 2 University of Porto
doi:10.20906/CPS/COB-2015-2529
Resumo
This paper presents the study and test of a force control strategy for drilling operations with a robotic manipulator. This subject has important industrial and medical applications. Drilling in aircraft fuselages and in surgeries are improved if a precise control strategy is adopted. In this work, it is used an interactive control with force feedback. This force control strategy is embedded in an industrial robotic controller present on the market. It was developed to general machining processes and can be extended to drilling processes, if a correct programming is done. With specific routines, experimental trials and data analysis, it is possible to evaluate the use of the force control and discern its advantages and limitations in drilling operations. High precision drilling is a difficult assignment and requires specific investigation. Slight displacements inside the workpiece can occur, resulting in drilling uncertain in specimens with small dimensions. The implemented force control in drilling demonstrates to be a good method to avoid the risks of failure in the material during the drilling process.
Palavras-chave: drilling with robots; robotic machining; force control