Force controlled robot for grinding

Two algorithms for use in force controlled robot applications have been developed for grinding. The `gradient prediction method´ is presented as an improvement to contour following in the force control mode. In this method, the gradient of the workpiece is predicted, and the force errors caused thereby are corrected. The `progressive stiffness method´ is also presented for grinding using a compliance control mode. In this method, the spring constant is automatically increased according to the grinding remaining, to keep the contact force nearly constant and to obtain an accurate profile. Both algorithms are experimentally tested