A force controlled grinding robot system has been developed and applied to the deburring of cast brake disk plates and the grinding of couplers involved in the manufacture and repair of rolling stock parts. The authors prepared some force control methods according to the type of grinding tasks. Generally, the approximate desired trajectories are generated from the shape of the workpiece, and the robot is controlled to press the grinder against the workpiece with a constant force and to feed it along these trajectories. The responsiveness of this system is high because the influence of the inertial force experted on the grinder is removed so the robot can trace a complex workpiece surface well with the grinder. These grinding tasks were executed smoothly even though the workpiece was set roughly by the human workers. The finishing condition was as good as that of a skilled worker, and the required working time was adequate for practical use.


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    Title :

    Application research on a grinding robot system - grinding of rolling stock parts


    Additional title:

    Anwendungsforschung bei einem Schleifrobotersystem - Schleifen von Walzgutteilen


    Contributors:
    Yoshimi, T. (author) / Jinno, M. (author) / Taguchi, T. (author) / Matsumoto, S. (author) / Arai, H. (author) / Shimazawa, T. (author)


    Publication date :

    1993


    Size :

    9 Seiten, 16 Bilder, 1 Tabelle, 7 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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