Parametric modelling and control of the robotic grinding process

Dai, H.; Yuen, K.M.; Elbestawi, M.A.

doi:10.1007/bf01749909

Cited by 18 publications

(4 citation statements)

References 7 publications

(15 reference statements)

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“…In [2], a two-pass robot control strategy is investigated for removing burrs and producing a consistent chamfer. Robotic disk grinding was studied in [3][4][5] in various aspects of the process. Nasri and Bolmsjo [6] presented also a process model for robotic disc grinding which connects different aspects of the grinding operation such as grinding force, cut depth and feed rate.…”

Section: Introductionmentioning

confidence: 99%

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Rafieian

Liu

Hazel

2009

2009 International Conference on Mechatronics and Automation

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Robot manipulators play an im portant role in industrial automation. Various aspects of robotic systems were subject of intensive investigations in the past, but the vibration problems in robotic machining processes have been rarely treated in the available literature. In this paper we present dynamic modeling of an ongoing research to study chatter vibration in robotic grinding process using a portable manipulator for rectifying the surfaces of hydro-electric equipments.This special-purpose robot manipulator was developed to automate on-site repairs such as grinding of eroded surfaces, depositing overlay welding and hammer peening. In this study, the structure of robot as the tool holder mechanism of the machining operation is modeled by articulated rigid bodies with flexible joints. The dynamic equations of the 6DOF flexiblejoint manipulator are established using Lagrangian formulation. 1mpulsive grinding forces and periodically perturbed excitations existing in the process are exerted on the model to simulate its response. As an intuitive estimation for joints' stiffness parameters of the model, payload test experiments were performed on the robot. To validate predictions of the dynamic model regarding vibratory behavior, modal testing experiments were performed and measured natural frequencies and mode shapes were compared to their analytical equivalents. Some future trends of the research work are also addressed.

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Section: Introductionmentioning

confidence: 99%

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Rafieian

Liu

Hazel

2009

2009 International Conference on Mechatronics and Automation

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“…In the later experiments, the quality and efficiency of the polishing operation should be improved by increasing the frequency of the control system, combining with the robot end trajectory planning and the compliance force control. In addition, the control of 6-DOF robot during grinding process [29][30][31][32][33][34][35][36][37] will be the focus of future research.…”

Section: Discussionmentioning

confidence: 99%

Admittance control design and system testing of industrial robot polishing operation

Zhou

Wang

Zhou

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part B:

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The control strategy is established with position control as the inner loop and admittance control the outer loop to solve the smooth contact force problem in faucet polishing operation. To avoid the excessive polishing, the parameter sensitivity is also introduced. Firstly, the system model and the controller are presented, the sensitivity of the parameter is calculated, and the effect of the admittance parameters on the output of the system is analyzed. Secondly, through the simulation of position control and admittance control, the change of the contact force between the robot end actuator and the external environment is analyzed, which shows that the proposed control strategy improves the accuracy of position control by 3.0% and guarantees that the contact force between the manipulator and the environment is close to the expected value. Finally, the polishing experiment is carried out on an industrial robot. The experimental results show that the control strategy can well control the contact force in the polishing process of the faucet.

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“…Robotic machining has become a very important tool in the industry. Many research studies have been done in recent years and have shown that industrial robots achieve remarkable success in many machining applications, such as polishing (Lin and Lu, 2005), grinding (Liu et al, 1990;Dai et al, 1993;Rena et al, 2006], debarring (Huang et al, 2002) and milling (Shirase et al, 1996;Dumas et al, 2011;Leali et al, 2014). However, precision machining applications require high performance and precision of the industrial robot.…”

Section: Assessment Of the Dynamic Accuracy Of Industrial Robotsmentioning

confidence: 99%

A comparative evaluation of three industrial robots using three reference measuring techniques

Slamani

Joubair

Bonev

2015

Industrial Robot: An International Journal

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Purpose – The purpose of this paper is to present a technique for assessing and comparing the static and dynamic performance of three different models of small six-axis industrial robots using a Renishaw XL80 laser interferometer system, a FARO ION laser tracker and a Renishaw QC20-W telescoping ballbar. Design/methodology/approach – Specific test methods are proposed in this work, and each robot has been measured in a similar area of its working envelope. The laser interferometer measurement instrument is used to assess the static positioning performance along three linear and orthogonal paths. The laser tracker is used to assess the contouring performance at different tool center point (TCP) speeds along a triangular tool path, whereas the telescoping ballbar is used to assess the dynamic positioning performance for circular paths at different TCP speeds and trajectory radii. Findings – It is found that the tested robots behave differently, and that the static accuracy of these non-calibrated robots varies between 0.5 and 2.3 mm. On the other hand, results show that these three robots can provide acceptable corner tracking at low TCP speeds. However, a significant overshoot at the corner is observed at high TCP speed for all the robots tested. It was also found that the smallest increment of Cartesian displacement (Cartesian resolution) that can be taken by the tested robots is approximately 50 μm. Practical implications – The technique used in this paper allows extremely accurate diagnosis of the robot performance, which makes it possible for the robot user to determine whether the robot is in good or bad condition. It can also help the decision-maker to select the most suitable industrial robot to achieve the desired task with minimum cost and specific application ability. Originality/value – This paper proposed a new method based on the performance verification approach for solving the robot selection problem for flexible manufacturing systems. Furthermore, despite their importance, bidirectional repeatability and Cartesian resolution are never specified by the manufacturers of industrial robots nor are they described in the ISO 9283:1998 guide, and they are rarely the object of performance assessments. In this work, specific tests are performed to check and quantify the bidirectional repeatability and the Cartesian resolution of each robot.

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Parametric modelling and control of the robotic grinding process

Cited by 18 publications

References 7 publications

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Dynamic model and modal testing for vibration analysis of robotic grinding process with a 6DOF flexible-joint manipulator

Admittance control design and system testing of industrial robot polishing operation

A comparative evaluation of three industrial robots using three reference measuring techniques

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