A Force Sensorless Method for CFRP/Ti Stack Interface Detection during Robotic Orbital Drilling Operations

Figure 7

(a) Thrust force recorded by dynamometer during the drilling test, (b) comparison of the DC component of measured force and thrust force observed by cutting force observer, and (c) comparison of the AC component of measured force and ripple force estimated by adaptive observer (at frequency of 2 Hz, equal to orbital frequency).

(a)

(b)

(c)