The authors address development, implementation and performance tests of a hybrid position/force controller for stable metal removal using industrial robots. To define a general control structure for robotic deburring, they examine also force and motion planning problems and define an interface between task specification, interpolation, and servo control. The hybrid control problem is solved at both the servo and motion planning control levels. The feasibility of the proposed scheme in multi-axis industrial robots was verified experimentally on an advanced robot control system.
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