DP5.5 A deburring robot can be used to smooth off ma

chined parts by following a preplanned path (input command signal). In practice, errors occur due to robot inaccuracy, machining errors, large tolerances, and tool wear. These errors can be eliminated using force feedback to modify the path online [8, 11].

While force control has been able to address the problem of accuracy, it has been more difficult to solve the contact stability problem. In fact, by closing the force loop and introducing a compliant wrist force sensor (the most common type of force control), one can add to the stability problem.

A model of a robot deburring system is shown in Figure DP5.5. Determine the region of stability for the system for K1 and K2. Assume both adjust

able gains are greater than zero.

FIGURE DP5.5 Deburring robot. Xd(s) Position 5 K s(s+4) input X(s) Actual position Fa(s) Desired force K2 Force sensor 1 F(s) Actual s+10 force