Improvement of Accuracy to Grind by Changing Position Control Gain for Shape-Grinding

Abstract

This research aims to achieve a new grinding robot system that can grind an object into desired shape with force-sensorless feed-forward control. However, there is a problem that vibration occurs during the grinding work has emerged, which makes the accuracy of the grinding become worse. Therefore, this paper proposes a method that changes the gain of position control for suppressing the vibration. Results observed by real grinding experiment have confirmed how our proposed method effectively improved accuracy of the grinding.