Robot kinematics for the free-form polishing of deformable Bezier-type surfaces

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 cod-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 aculator dynamics due to slow tool advance velocity involved in electro-chemical polishing. Some problems relating to the 'look ahead' mechanical sensor are also addressed.