An Approach to Automated Deburring Using Robot Manipulators:Impedance Control
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'K. (Cheena) Srinivasan', 'PO_EMAI': None, 'PO_PHON': None}
This work will investigate the deburring process as an independent              machining process with special regard to its application by industrial          robot manipulators when impedance control is used to control the                process.  With impedance control, the compliance of the robot                   end-effector is modulated electronically by means of online                     microcomputer control.  The end-effector behaves dynamically as if it           has mechanical springs with adjustable stiffness; however, the                  end-effector does not have srpings and develops its compliance                  electronically by feedback on two miniature actuators.  This research           will apply this concept to robotic deburring.  In the deburring                 process, it is necessary to control the contact force to chieve the             required surface finish and profile and to prevent overloading.  To             achieve this, the design objective is to control the closed-loop system         such that the ratio of the system position to the contact force is              maintained constant.
{'FirstName': 'Homayoon', 'LastName': 'Kazerooni', 'PI_MID_INIT': None, 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Homayoon Kazerooni', 'EmailAddress': 'kazerooni@berkeley.edu', 'NSF_ID': '000341146', 'StartDate': '09/15/1986', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'University of Minnesota-Twin Cities', 'CityName': 'MINNEAPOLIS', 'ZipCode': '554552009', 'PhoneNumber': '6126245599', 'StreetAddress': '200 OAK ST SE', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Minnesota', 'StateCode': 'MN', 'CONGRESSDISTRICT': '05', 'CONGRESS_DISTRICT_ORG': 'MN05', 'ORG_UEI_NUM': 'KABJZBBJ4B54', 'ORG_LGL_BUS_NAME': 'REGENTS OF THE UNIVERSITY OF MINNESOTA', 'ORG_PRNT_UEI_NUM': None}
{'Name': None, 'CityName': None, 'StateCode': None, 'ZipCode': None, 'StreetAddress': None, 'CountryCode': None, 'CountryName': None, 'StateName': None, 'CountryFlag': None, 'CONGRESSDISTRICT': None, 'CONGRESS_DISTRICT_PERF': '""'}
{'Code': '1468', 'Text': 'Manufacturing Machines & Equip'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1986&All=true', 'xml': '8604123.xml'}