Adaptive Force Control for Robotic Disk Grinding

Elbestawi, M.A.; Yuen, K.M.; Srivastava, A. K.; Dai, H.

doi:10.1016/s0007-8506(07)62014-9

Cited by 16 publications

(5 citation statements)

References 10 publications

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“…Amitay et al (1981) designed a computerised adaptive control system to optimise both the grinding and dressing conditions for the maximum metal removal rate (MRR) subject to two process constraints on the workpiece burn and surface finish. Other researchers such as Furukawa and Ohishi (1984), Bhattacharyya et al (1984), Elbestawi et al (1991) also have applied adaptive control scheme in grinding processes.…”

Section: Conventional Control Techniquesmentioning

confidence: 99%

Survey on various control techniques in micro grinding processes

Tang

Jackson

2009

IJNM

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Due to the highly demanding geometric accuracy and surface finish for many modern products, grinding processes have been extensively used in manufacturing industry. However, it is also well accepted that grinding is one of the most complicated machining processes due to the high non-linearities, intrinsic uncertainties and time-varying characteristics. Multiple challenging problems exist in the process that limits its overall quality and production in practice. With the increasing demands for higher part geometry accuracy, better surface integrity, more productivity and other desired product parameters (e.g., minimisation of subsurface micro-damage) with less operator intervention, various control methods have been studied and implemented to control position, velocity, force, power, temperature and the material removal rate (MRR) during the grinding process, in order to achieve the desired system performance within certain cost/time. This paper reviews different control strategies in order to provide a guideline for academic researchers and industrial practitioners in improving the final product quality with increased possible process flexibility.

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Section: Conventional Control Techniquesmentioning

confidence: 99%

Survey on various control techniques in micro grinding processes

Tang

Jackson

2009

IJNM

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“…Therefore, in the polishing process of large workpieces, the hand-holding polishing tool is optimal. Furthermore, the research of this robotic polishing system is based on the combination and design of the end effector of the robotic arm and grinding tool [4][5][6]. In addition, it is worth mentioning that an active contact flange (ACF) based on active compliant technology and powered pneumatically has been available in the market for robotic grinding and polishing application [7].…”

Section: Introductionmentioning

confidence: 99%

Development of Grinding and Polishing Technology for Stainless Steel With a Robot Manipulator

Shaw

Fang

2022

JAMRIS

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In traditional industries, manual grinding and polishing technologies are still used predominantly. However, these procedures have the following limitations: excessive processing time, labor consumption, and product quality not guaranteed. To address the aforementioned limitations, this study utilizes the good adaptability of a robotic arm to develop a tool-holding grinding and polishing system with force control mechanisms. Specifically, off-the-shelf handheld grinder is selected and attached to the robotic arm by considering the size, weight, and processing cost of the stainless steel parts. In addition, for contact machining, the robotic arm is equipped with a force/torque sensor to ensure that the system is active compliant. According to the experimental results, the developed system can reduce the surface roughness of 304 stainless steel to 0.47 µm for flat surface and 0.76 µm for circular surface. Moreover, the processing trajectory is programmed in the CAD/CAM software simulation environment, which can lead to good results in collision detection and arm posture establishment.

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“…In the grinding force control, the fixed gain grinding force control such as PID control is applied widely because of its simple, but the uncertainty of grinding process may result in the real-time change of grinding force, moreover make PID controller instability or distortion. So it is necessary to adopt the adaptive control strategy for good stability of the system [2]. Many researchers [3][4][5][6][7][8] have done lots of work on the adaptive control for the finishing grinding process.…”

Section: Introductionmentioning

confidence: 99%

A Self-Tuning Based Fuzzy-PID Approach for Grinding Process Control

Yang

Gao

Zhang

et al. 2003

KEM

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A Fuzzy-PID controller is designed for tracing reference cutting forces in grinding by integrating a high performance fuzzy controller and an easy to use PID controller. When the error of the grinding force is large, in order to respond quickly, the fuzzy controller with a self-tuning factor is adopted and the Max-Proc strategy is also used. This will be good for fuzzy reasoning. If the error of the grinding force is small, the PID controller is adopted for the benefit of robustness. The combined controller presents many advantages over conventional adaptive and fuzzy controllers, such as real time feasibility, robustness, and stability. A series of simulation work have been achieved to examine the sudden and gradual changes in the cutting depth. Experiments have been carried out on an NC grinding machine to validate the proposed approach.

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Adaptive Force Control for Robotic Disk Grinding

Cited by 16 publications

References 10 publications

Survey on various control techniques in micro grinding processes

Survey on various control techniques in micro grinding processes

Development of Grinding and Polishing Technology for Stainless Steel With a Robot Manipulator

A Self-Tuning Based Fuzzy-PID Approach for Grinding Process Control

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