Trajectory and Force Generation with Multi-constraints for Robotic Belt Grinding

In the robotic belt grinding process, the parameters such as robot feedrate and contact force play important roles on the material removal. In order to minimize the machining time and achieve high accuracy, a scheduling method of trajectory and force is proposed to maximize the robot feedrate. First, an optimization model with the constraints of joints speed, acceleration and robot feedrate, acceleration of robotic belt grinding is presented. Then, the feedrate scheduling problem is transferred to a linear programming problem, which can be solved efficiently. The contact force is also scheduled based on an empirical formula of grinding mechanism after solving the optimal feedrate. Finally, the simulation and experiment show the method can effectively achieve trajectory and force generation for robotic belt grinding with high efficiency and accuracy.