Model and comtrol for a profile-adaptive compliant control system

Author

Zhan, Jianming ; Song, Chunlan

Author_Institution

Fac. of Mech. Eng. & Mech., Ningbo Univ., Ningbo, China

fYear

2011

fDate

9-11 Sept. 2011

Firstpage

3808

Lastpage

3811

Abstract

When a grinding ring polishes free-form surfaces by a robot with multi-point machining, the polishing force would be disturbed by the changes of profile of the machined surface. In this paper, a compliant system with a passive wrist is studied when it adapts the profile of the machined curved surface by changing its posture along with the surface. Under the hybrid movement - force control policy, the polishing force could be used to model and control. In real experiments, the compliant system could be used in force controlling when robots polish free-form surfaces by a grinding ring.

Keywords

force control; grinding; grinding machines; industrial robots; machining; polishing; polishing machines; force control policy; free-form surface; grinding ring; hybrid movement; machined curved surface; multipoint machining; passive wrist; polishing force; posture; profile-adaptive compliant control system; robot; Aircraft manufacture; Computer aided manufacturing; Force; Machining; Mathematical model; Robots; Robustness; force control; free-form surface; polishing robot; profile-adaptability;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Communications and Control (ICECC), 2011 International Conference on

Conference_Location

Ningbo

Print_ISBN

978-1-4577-0320-1

Type

conf

DOI

10.1109/ICECC.2011.6066335

Filename

6066335