A mechatronic approach for robotic deburring

This paper deals with the implementation of a mechatronic methodology for the robotic deburring of planar workpieces with an unknown shape performed by an industrial manipulator. The approach is based on the use of a hybrid force/velocity control law and on a correlated suitable design of the deburring tool. Experimental results, obtained with a two degrees-of-freedom SCARA industrial robot manipulator, show the effectiveness of the method.