A novel approach to robotic grinding guaranteeing profile accuracy using rigid-flexible coupling force control for free-formed surfaces

This paper proposes a novel approach to robotic grinding guaranteeing profile accuracy for free-formed surfaces. Based on the material removal model and the feed-drive ability of the robotic grinding system, hybrid constraints of material removal, force-amplitude and robot dynamics are determined simultaneously. The feedrate and contact force are planned simultaneously to guarantee maximum efficiency with the hybrid constraints. A novel rigid-flexible coupling force-control actuator is developed to restrict overshoot and improve the control accuracy of the grinding force. Experiments demonstrate that the proposed method significantly improves the profile accuracy, grinding efficiency and surface quality of free-formed parts.