Self-compensating closed loop real-time robotic polishing system

摘要

An automated real-time robotic polishing system (RT-RPS) has been designed specifically for the turbine blade polishing process. The system is equipped with various functional modules such as in-situ measurement, intelligent profile prediction, robust robot path generation and so on. A novel self self-compensating mechanism was also introduced to provide a servo-based position/force control to ensure that the blending force is dynamically maintained and hence, consistent polishing is achieved. And the result is, a robot polishing system that is able to deliver the precision and accuracy that is beyond the rated specification of the robot itself.