Robotic Polishing with Force Controlled End Effector and Multi-step Path Planning
文献类型：会议论文
| 作者 | Imran Mohsin; Kai He; Jiannan Cai; Hao Chen; Ruxu Du |
| 出版日期 | 2017 |
| 会议地点 | Macau SAR, China |
| 英文摘要 | Surface polishing is a crucial final process of many manufactured parts. Presently, the process is heavily dependent on the skill of the trained workers and hence, is time consuming, expensive, error-prone and environmentally unfriendly. This paper presents a force controlled flexible robot polishing system utilizing a specially designed active end effector with a multi-step path planning. The main focus of the study is to control of the contact between the tool and the polishing surface. The system is tested for polishing a circular ring. In comparison to the manually polished parts, the robotic system performs better in terms of surface quality and productivity. With further improvement, the presented system will find many applications in the near future. |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11814]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Imran Mohsin,Kai He,Jiannan Cai,et al. Robotic Polishing with Force Controlled End Effector and Multi-step Path Planning[C]. 见:. Macau SAR, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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