Modern high-speed 5-axis machining toolpaths consist of densely discretized tool center
points (TCP) and tool orientation vectors (TOV). This paper presents a global interpolation …

To promote operational intelligence, improve surface quality, and reduce manpower
dependence, a novel high-bandwidth end-effector with active force control for robotic …

This paper presents a systematic approach for the kinematic calibration of a 6-DOF hybrid
polishing robot. It concentrates particularly on dealing with ill-conditioning that arises from …

The working conditions in grinding and polishing operations are complex and harsh, and it
is gradually becoming a trend to replace manual grinding and polishing with robots. This …

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 …

There is a strong demand for automating the rough polishing process in plastic-mold
manufacturing. In this study, with the active end effector being capable of fast force control …

In this paper, we present a novel design of a robotic electrochemical mechanical polishing
(ECMP) process. Firstly, the process is presented to replace the conventional ECMP process …

This paper presents a theoretical and experimental investigation which attempts to provide a
better scientific understanding of the material removal characteristics and surface generation …

Surface finishing with compliant tools is a widely used technology that still relies heavily on
the trial-and-error approach. To predict surface evolution, one should ideally consider the …

In automotive manufacturing, the repair polishing process of an automotive body is still
manually performed by skilled polishing workers. This is because skilled workers can …