Performance Optimization of Robotic Polishing System with a 3-DOF End-Effector Using Trajectory Planning Method
Pages 327 - 339
Abstract
A robotic polishing system is usually composed of an industrial robot (macro-robot) and an end-effector (micro-robot), called a macro-micro robotic system. The macro-robot is mainly responsible for path tracking, while the micro-robot implements force control for polishing. This combination has the advantages of large workspace and fast response. However, the traditional end-effector usually has only one degree of freedom (DOF). It can hardly provide optimization space for trajectory planning of the macro-robot, which affects the polishing quality to some extent. Therefore, we developed a 3-DOF end-effector to compensate for the motion of the macro-robot, especially for curved surface polishing. The trajectory planning is modeled as an optimal control problem, and Gauss pseudospectral method is used as the corresponding solution strategy. Finally, in polishing simulations of the arc path, the 3-DOF end-effector is proved to be superior to the traditional 1-DOF one in trajectory planning.
References
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Published In
Jul 2023
610 pages
ISBN:978-981-99-6494-9
DOI:10.1007/978-981-99-6495-6
© The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.
Publisher
Springer-Verlag
Berlin, Heidelberg
Publication History
Published: 16 October 2023
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