Development of Robot Control and Measurement for Unknown Geometric Surface Grinding

미지형상 표면의 연삭 작업을 위한 로봇 제어ㆍ계측 시스템 개발

  • Published : 2000.04.01


This paper introduces the control and measurement of a double parallel robot manipulator applied for unknown geometric surface grinding. A measurement system is developed to recognize a grinding path by a vision camera and to observe a grinding load by a current sensor. With the measured fusion information, an intelligent controller identifies the unknown geometric surface and moves the robot along the grinding path with a constant grinding load.


Unknown Geometric Surface;Double Parallel Manipulator;Vision Sensor;Current Sensor


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