In the polishing process, contact force has obvious influence on material removal rate, thus
realizing stability and effectiveness of force control is a significant issue for automatic …

This work presents a hybrid position-force control of robots in order to apply surface
treatments such as polishing, grinding, finishing, deburring, etc. The robot force control is …

Aiming at a 5-DOF hybrid optical mirror polishing robot, the explicit dynamic model
considering the joint friction is established and the inertia coupling distribution is studied …

The proposed study provides a solution of the inverse and forward kinematic problems and
workspace analysis for a five-degree-of-freedom parallel–serial manipulator, in which the …

K9 optical glass is one of the typical components in optical systems. However, because of its
poor fracture resistance, it is difficult to polish it with ultra-precision and high-efficiency and …

Industrial robots are increasingly being considered for application in performing polishing
operations. Most research has been performed on workpieces with a priori (CAD) model …

The automation of the polishing process is essential to improve the production efficiency and
the quality of the part surfaces. The control strategy, which involves the position/force control …

The force-controlled end-effectors for industrial robots usually face the problems of low
output force, poor control accuracy, or slow dynamic response. This paper presents a …

This paper investigates the tool-workpiece contact mechanism in the disc polishing process,
where the soft polishing disc touches the rigid freeform workpiece with a small tilt angle. The …

For robotic polishing of curved surfaces with compliant polishing disc, it is critical to
accurately control the tilt angle of the polishing disc and normal contact force between the …