A deburring robot can be used to smooth off machined parts by following a preplanned

Chapter 0, Problem DP5.5

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A deburring robot can be used to smooth off machined 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 K\ and K%, Assume both adjustable gains are greater than zero.