As the amount of industrial robots increases in the manufacturing industry, the developments in the area of automation of finishing methods has been attracting more attention. This thesis work introduces an automated system, performing deburring operations. A robot integrated with force control sensor holding a workpiece and a spindle engine holding a brush rigid within the working envelop of the robot.

This work explores the approach of programming the robot and the force control sensor using offline programming in Robot Studio and online programming in direct contact with the robot. The advantages and disadvantages using the both methods is also concerned. The important part in order to automate the operation is the use of force control sensor which is introduced and programmed. The work is aiming to explore the importance of using force control and its functions during a deburring operation. Experiments of both including and excluding force control sensor is performed to analyse the ratio between force and distance. Instead of applying force on a workpiece during the operation is distance the workpiece being pushed into the brush emphasised. The experiments and results showed that it is possible to use only one force control sensor to analyse the ratio between force and distance for a specific tool. The calculated data can further be implement on other robots to only use distance as an input value and exclude force control sensor. The presented approach can be implemented in a manufacturing company applying this kind of operation to decrease the amount of force control sensors to only one and gain the same results and an economical benefit.