WORST-CASE AVERAGE SHARP

The deburring process of manufactured parts has been investigated theoretically and experimentally as a frequency domain control problem with special regard to ap-plication by industrial robot manipulators. A new control strategy /i!as been developed for precision deburring to guarantee burr removal while compensating for robot oscillations and small uncertainties in the location of the part re'iative to the robot. Compliant tool-holders, designed according to the above control.\"trategy, provide the required normal and tangential forces for deburring. A servo j10sition-ing table used to holds parts, has been considered in this study to compe/lSate for robot oscillations up to 80 percent. The robot, the compliant tool-holder, and the servo positioning table, working together with a closed-loop process control, form a new automated system that deburrs manufactured parts