An experiment on profiling task with impedance controlled manipulator using cutter location data

We describe how to easily apply an impedance controlled robot to a profiling task along a curved object and to improve the performance using a position compensator based on the cutter location (CL) data. The CL data generated by the CAD/CAM system have information of points along the curved surface and their normal vectors. If the object is manufactured with a multi-axis numerical control (NC) machine tool, the CL data can be used as not only desired trajectory in the direction of position control but also feedforward information in the direction of force control. This technique allows us to generate the desired trajectory without teaching and to improve the performance for profiling control. Some control experiments are shown to demonstrate the effectiveness of the proposed method