Robot kinematics for the free-form polishing of deformable Bezier-type surfaces
1992
Abstract The exact model of dynamic forces required to control a robot to follow a Bezier-type surface is developed in this paper. Implementation using a contact sensor to enable the polishing tool fixed at the end-effector for hybrid controlled is discussed. The experimental set-up led to the discarding of terms in the original kinematic equations which are insignificant compared to friction and actuator dynamics due to slow tool advance velocity involved in electro-chemical polishing. Some problems relating to the “look ahead” mechanical sensor are also addressed.
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