Force Controlled Grinding Robot System For Unstructured Tasks

A new force controlled grinding robot has been developed which can safely and efficiently repairing equipments in hostile environments using remote control and automatic control. This robot system incorporates a new method for measuring the grinding force, in which the grinding force is measured from the moment about the grinder head’s center of gravity. The influence of inertid forces caused by translational motion is removed so that high stability is achieved. Furthermore, this robot can change the grinder’s orientation to follow the surface of an object automatically, and can also grind the surface of an object into a desired shape. In this paper, the authors p r o p a new method for measuring the grinding force and also force control methods for unstructured grinding tasks. carry out lmmctured grinding tasks such as

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