The superalloy Inconel 718 has low machinability. Therefore, the material removal processes are difficult to carry out in this material. The main goal of this thesis is to perform robotized deburring process in this material with the purpose to get smooth edges of the surface. For that, the simulation of the workcell has been performed in order to achieve more accuracy in the depth paths and the correct robot configuration in a faster and safer way. Moreover, the burrs on the workpiece have been measured by a microscope in order to analyze the size and locations of the burrs generated in the previous process of the workpiece (end milling process).
Automation of deburring process sometimes requires complexities such as the force control with the purpose to avoid deformation of the piece. Several tests have been performed in the real cell in which the force during the process has been controlled. For that, FC system by ABB has been used which requires a specific calibration to get the correct measure of the force. The purpose to use FC is the validation of this system to control the force through speed and position changes and the estimatio n of the required force (which are based on the test results) to achieve the desired smooth edges of the workpieces..