Closed loop force control of in-situ machining robots using audible sound features

David Alatorre,Amir Rabani,Dragos Axinte,David T. Branson

Mechanical Systems and Signal Processing（2020）

引用 6|浏览5

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摘要

•Airborne sound features can be used to control cutting forces while grinding.•Dominant frequency can be used to monitor and control air spindle velocity.•Sound intensity can be used to mitigate the effects of workpiece resonance.•Proposed control method can achieve accuracy of 0.08 N with air-driven tools.•Demonstrated with robotic arm grinding objects with unknown topology.

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关键词

Force control,Machining,Aircraft Maintenance,Airborne sound,Power spectral density,Sound intensity

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