Improvement of Accuracy to Grind by Changing Position Control Gain for Shape-Grinding

Abstract:

This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless feed-forward control. However, there is a problem that vibration occurs during the grinding work has emerged, which makes the accuracy of the grinding become worse. Therefore, this paper proposes a method that changes the gain of position control for suppressing the vibration. Results observed by real grinding experiment have confirmed how our proposed method effectively improved accuracy of the grinding.

• Periodical: Applied Mechanics and Materials (Volume 555)
• Pages: 186-191
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.555.186
• Online since: June 2014
• Authors: Mamoru Minami*, Ken Adachi, Satoshi Sasaki, Akira Yanou
• Keywords: Constrained Force, Force-Sensorless Grinding, Shape-Grinding

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