@inproceedings{1ac8db9ea092423791fa997c767ef33f,
title = "A hybrid passive/active force control scheme for robotic belt grinding system",
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.",
keywords = "Automation, Force control, Grinding, Industrial robot",
author = "Jinfeng Zhang and Gangfeng Liu and Xizhe Zang and Liyi Li",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 13th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 ; Conference date: 07-08-2016 Through 10-08-2016",
year = "2016",
month = sep,
day = "1",
doi = "10.1109/ICMA.2016.7558654",
language = "英语",
series = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "737--742",
booktitle = "2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016",
address = "美国",
}