Grinding Complex Workpiece Surface Based on Cyber-Physical Robotic Systems

Abstract

Robotic manipulators have been applied in manufacturing. For grinding complex workpieces, a robotic automation system presents the potential to deal with large-variety production and overcome labor shortage problem. This paper proposes a new framework of grinding robot system with Cyber-Physical Systems (CPS) which is able to connect and synchronize between physical shop floor and the cyber computational space. However, the gaps between real world and simulation lead to the uncertainty. The object localization method can help to achieve the grinding machine's position precisely. In order to satisfy smart manufacturing, the robot trajectory can be generated and modified automatically. We had successfully finished two complex workpieces that contain six of toolpaths. The grinding quality of our system is better than the robot teaching, and teaching time is be shorten 90%.