• Journal of Mechanical Science and Technology
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• v.16 no.5
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• pp.633-638
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• 2002

An approach to enhance dimensional accuracy of the grinding process has been presented, and grinding of a glass material with a metal-bonded diamond wheel has been studied. In this study, a grinding tool is suspended flexibly and controlled by an electromagnetic actuator. During grinding, profile error of a ground surface is indirectly measured and fed back to a control system. A model of grinding error has been suggested on which the indirect measurement has been based. An optimal PID control is adopted and effectiveness of the in-process feedback control has been verified experimentally.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.9
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• pp.66-73
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• 1995

This paper presents monitoring and control system to decrease non-production time such as air grinding and partial contact in cylindrical plunge grindings. The 4-stage model of the plunge grinding process is proposed according to the state of contact between grinding wheel and workpiece; air grinding, partial contact, entire contact and spark out. Experimentally it is seen that the AE sensor and ultrasonic sensor are very effective to detect the grinding states. Monitoring and control algorithm using recognized grinding process was introduced and a experiment were conducted to verify the developed system.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.824-828
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• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.04a
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• pp.425-428
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• 1994

Non-uniform minute deformation of a cylinderical workpiece resulted from the heat treatment process prior to the grinding makes it diffeclt to control the approaching feedrate of a grinding wheelto a workpiece optimallywithout on-site detection of the grinding states in the plunge grinding. The 4-stage model of the plunge grinding process is proposed according to the state of contact between grinding wheel and workpiece ; precontact, partial contact, entire contact and spark-out. Despite of being scrious to the precision of workpiece finished, the duration of spark-out is determined empirically. The purpose of this research is to develop a monitoring/control system for saving non- production time and setting the optimal spark-out time based on sensor information in the plunge grinding using AE and ultra sonic sensor.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1088-1094
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• 2006

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.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.160-163
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• 1993

In this paper, design of an automatic grinding robot system for car brazing bead is introduced. Car roof and side panels are joined using brazing, and then the brazing bead is processed so that the bead is invisible after painting. Up to now the grinding process is accomplished manually. The difficulties in automation of the grinding process are induced by variation of position and shape of the bead and non-uniformity of the grinding area due to surface deformation. For each car, the grinding area including the brazing bead is sensed and then modeled using a 2-D optical sensor system. Using these model data, the position and the direction of discrete points on the car, body surface are obtained to produce grinding path for a 6 degrees of freedom grinding robot. During the process, it is necessary to sense the reaction forces continuously to prepare for the unexpected circumstances. In addition, to meet the line cycle time it is necessary to reduce the required time in sensing, signal processing, modeling, path planning and data transfer by utilizing real-time communication of the information. The key technique in the communication and integration of the complex information is obtaining in-field reliability. This automatic grinding robot system may be regarded as a jump in the intelligent robot processing technique.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.453-458
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• 2000

Design of an in-process feedback control system has been studied for precision grinding. A grinding system consists of a grinding tool, a turn table and a disk-shaped workpiece on the table is taken as an object. A grinding process model has been deduced which gives some reasoning about the process errors. In the control system the tool position is actively controlled by an electro-magnetic actuator in-process. The ground error is feedback to compose a closed-loop control system and an optimal PID controller is applied. Some control performances such as transient response and disturbance such as transient response and disturbance attenuation have been examined, which convinces the effectiveness of the control. Some methods for implementation of the control. Some methods for implementation of the control have been suggested from a standpoint of practical application.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.11
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• pp.899-904
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• 2016

ELID grinding is an excellent technique for the mirror grinding of the variety of the advanced metallic or nonmetallic materials. The focus of this study is the development of an automatic-control electrolysis-speed device for the automation of the ELID-grinding process. For the development of the automatic-control electrolysis-speed device, analysis experiments regarding the ELID cycle and oxide-layer removal and creation were conducted according to a truing and dressing process. Also, a comparative experiment was conducted to confirm the variance of the electrolysis speed in accordance with changes of the voltage. The experiment results for the developed automatic-control electrolysis-speed device show that the developed device could control the electrolysis speed according to voltage changes through the use of the data that are monitored during the ELID-grinding process.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.387-390
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• 1997

Grinding process takes a long time that grinding machine is setted properly. It is difficult for user to judge correctly the abnormal states generated in grinding process. Air grinding has to be reduced for the improvement of productivity. In addition, it is important to monitor the dressing and the grinding process so that the grinding working maintains optimal grinding conditions. In this study, the monitoring system using the acoustic emission is developed to monitor these processes continuously. This system was able to reduce the preparation as well as the machine setting time in grinding operation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.700-705
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• 2003

In this paper, an extended process model is proposed for the application of flexible belt grinding equipment as utilized in robotic grinding. The analytical and experimental results corresponding to grinding force, material removal rate (MRR) and contact area in the robotic grinding shows the difference between the conventional grinding and the flexible robotic grinding. The process model representing the relationship between the material removal and the normal force acting at the contact area has been applied to robotic programming and control. The application of the developed model in blade grinding demonstrates the effectiveness of proposed process model.