Robot control for wood carving operations

• The aim of this paper is to implement sensor control in wood carving operations. The introduction of wood carving is a step towards the development of a new manufacturing method for the wood manufacturing industry, where wood carving would facilitate increased freedom of the design choice. A control method that improves robot control and supports simpler programming, based on using an industrial robot equipped with a wrist mounted force/torque-sensor. is proposed for the wood carving process. This paper describes the structure and control algorithm of the system and how different machining parameters affect the cutting forces. The evaluation of the system showed that it is possible to control the cutting depth at speeds up to 7.5 mms by adjusting the rake angle of the tool to obtain a nominal force.

Nyckelord

carving; milling; wood; industrial robot; force control; automation

TECHNOLOGY

TEKNIKVETENSKAP

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