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http://dx.doi.org/10.5302/J.ICROS.2006.12.11.1088

Auto Path Generation and Active Compliance Force Control Using 3-axis Grinding Robot  

Choo, Jung-Hoon (대우조선해양(주) 자동화연구소)
Kim, Soo-Ho (대우조선해양(주) 자동화연구소)
Lee, Sang-Bum (대우조선해양(주) 자동화연구소)
Kim, Jung-Min (대우조선해양(주) 자동화연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.12, no.11, 2006 , pp. 1088-1094 More about this Journal
Abstract
In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.
Keywords
grinding; farce control; edge cutting; auto path generation; active compliance control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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