Movement Modeling and Control for Robotic Bonnet Polishing

Abstract

Abstract With the increasing demand for high-precision optical components, bonnet polishing technology is increasingly being used in the polishing process of optical components owing to its high removal efficiency and high surface accuracy. However, it is expensive and difficult to implement dedicated bonnet polishing machine tools, and their processing range is limited. This research combines bonnet polishing technology with industrial robot-assisted processing technology to propose a robotic bonnet polishing control model for large-diameter axisymmetric aspherical optical components. Using the transformation relations of the spatial coordinate system, the transformation relations of the workpiece coordinate system, local coordinate system of the polishing point, and tool coordinate system of the bonnet sphere center are established to obtain the bonnet precession polishing motion model. The polishing trajectory of large-diameter axisymmetric aspherical components and the variation in the linkage angle difference were simulated by adding an efficiency-optimal control strategy to the motion model. The robot motion was simulated in Robostudio to verify the correctness of the precession motion model and control algorithm. Lastly, the robotic bonnet polishing system was successfully applied to the polishing process of the optical components.