Apparatus for Robotic-Supported Abrasive Machining
AssigneeFerRobotics Compliant Robot Technology GmbH
InventorRonald Naderer
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Abstract
A robot-supported grinding method is described. In accordance with one example of the invention, the grinding method includes contacting a surface of a workpiece with a rotating grinding tool, whereby either the grinding tool or the workpiece is mechanically coupled to the tool center point (TCP) of a manipulator. The method further includes controlling an actuator that influences the grinding tool or the workpiece to produce a grinding force between the grinding tool and the workpiece, as well as measuring an actual deflection of the actuator. The rotational velocity of the grinding tool is adjusted depending on the measured actual deflection of the actuator and a reference deflection of the actuator.
Claims11
A robot-supported abrasive machining method, comprising:
- contacting a surface of a workpiece with a rotating grinding tool, whereby either the grinding tool or the workpiece is mechanically coupled to a tool-center-point (TCP) of a manipulator;
- controlling an actuator that influences the grinding tool or the workpiece so as to generate a grinding force between the grinding tool and the workpiece;
- measuring an actual deflection of the actuator;
- and
- adjusting a rotational velocity of the grinding tool dependent on the measured actual deflection of the actuator and a reference deflection of the actuator.
An apparatus for robot-supported abrasive machining, comprising:
- a manipulator;
- a grinding machine with a grinding tool;
- a force-controlled actuator configured to influence the grinding machine or a workpiece such that a grinding force is produced between the grinding tool and a surface of the workpiece;
- a velocity controller for the grinding machine that is configured to adjust a rotational velocity of the grinding tool dependent on a measured actual deflection of the actuator and a reference deflection.
Dependencies are inferred from the claim text.