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

被引：0

作者：

Yap, Kian T. ^{[1
]}

Yokokohji, Y. ^{[1
]}

机构：

[1] Inst of Manufacturing Technology, Singapore

来源：

CIRP Annals - Manufacturing Technology | 1992年 / 41卷 / 01期

关键词：

Bezier-type surfaces - Hybrid control;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

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.

引用

页码：617 / 620

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