Research of Grinding Robot without Force Sensor by Using Algebraic Equation

摘要

On the basis of an analysis of the interaction between a manipulator for grinding process and a working object in the task space, motions of the constrained dynamic system of the robot is modeled first in this paper. In the model, the constrained forces are included and expressed as an algebraic function of the state and input generalized forces by using the equation of constraints. Using this result, a control law is proposed by taking the advantage of the redundancy of input generalized forces to the constrained forces. A controller for the grinding robot is then constructed according to this control law and without involving any force sensors. Real experiments have been done for evaluating the feasibility of the controller by taking an articulated planar two-link manipulator as an example. Results show the effectivenesses of the proposed controller for real grinding task.