Drilling and cutting operations are required in many industrial applications. For example an advanced flexible manufacturing system using robotics technologies may be required to perform such operations. Variation in the mechanical properties of a material to be processed, and compliance add complexity to the already nonlinear robotic system. Thus, these tasks are difficult to perform. For cutting and drilling processes, it is often desirable to maintain a constant cutting force to maintain productivity and also to maintain the quality of the finished workpiece. To counter the effect of the material variations while maintaining a constant cutting force, a controller mechanism is necessary which will react to these variations, and adjust the robot controller's parameters to minimize the effects of the variations on the system's performance. / A single-input/single-output (SISO) model-reference adaptive control (MRAC) scheme to cope with varying material hardness, sensor compliance, and non-rigid body dynamics in the control of cutting forces is presented. The controller is formulated to maintain stable, damped, force control when rigid body and rigid contact assumptions are not valid, and when material hardness is variable, in discrete-time and Cartesian-space. It is suited to super-position on a Cartesian-space hybrid control scheme, and implementation on a multiprocessor control system.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.61094 |
| Date | January 1991 |
| Creators | Ali, Naseer A. (Naseer Ahmad) |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Electrical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001271628, proquestno: AAIMM74697, Theses scanned by UMI/ProQuest. |
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