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  4. Advanced Control for Robotics Surface Treatment

Advanced Control for Robotics Surface Treatment

Funding Organization: 

ARM Institute (Subcontract from Raytheon Technology Research Center)

Principal Investigator: 

John T. Wen

Dates: 
May 1, 2019 to September 30, 2020
Amount: 
$225,000
Grant Status: 
Completed
Abstract: 

This project develops force control methodology for the robotic deep rolling process in advanced metal alloy processing.  Instead of the commonly used CNC machine, which is expensive and inflexible, this project develops open-source robot control algorithms with force measurements combined with FEM modeling to achieve desired materials property.  Iterative learning control method for robot motion and force control is developed and tested to achieve desired motion and force profiles.  The developed software is open-source and is not limited to robots from a particular vendor.  The project prime is Raytheon Technology Research Center (East Hartford, CT) with a subcontract to RPI.