A Force-Controlled Robotic Manipulator for Surface Polishing

10.6567/IFToMM.14TH.WC.OS13.018

Meng-Bin Min；Ke Xiao；Qing-Hua Xia；Guilin Yang

Polishing ； Linear motor ； Force control

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

634 - 639

英文

This paper presents a cost-effective polishing system for surface polishing based on force control approach. A 5-axis manipulator is proposed to polish both cylindrical and curved bottle profiles. The kinematic and dynamic models of this system are derived for analysis and control. In order to get high polishing performance, a linear motor's current feedback is used for force control scheme, to control contact force amplitude between polishing wheel and bottle surface. Overall polishing process, force control scheme, and experimental results are studied in the paper.