Abstract
Aiming at solving a series of prominent problems in grinding industry, this paper proposes a hybrid passive/active force control scheme for grinding tap with industrial robot. Firstly, we design an abrasive belt grinder with dynamic position adjustment as passive force control device and use a 6-axis force/torque sensor as active force control device. Nextly, the hybrid passive/active force control strategy is established with impedance controller, including the compensation for tool's gravity. Then, we plan the robotic grinding path and carry out simulation in V-REP. Finally, the path planning parameters are used for grinding experiments. The results verify that the hybrid passive/active force control scheme for robotic belt grinding system can effectively reduce the fierce mechanical shock by passive force control and acquire preferable force accuracy by active force control.
Published Version
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