Autonomous robot‐based finishing of surfaces with a reduction of the programming effort can be achieved by teaching the desired trajectory locally in the object reference frame. Thus, the flexibility of the programmed task increases and also moving surfaces can be finished. This paper aims to focus on this control concept.
The developed concept relies both on the use of a new slip sensor which is able to measure relative motion between the robot end‐effector and the machined object surface as well as on a continuous slip and force control algorithm. First experimental results were used to validate the concept.
The presented results were promising enough to encourage the application of the proposed concept scheme in connection with the slip sensor in industrial finishing applications.
The first investigations provide a basis for the development of more accurate software solutions in order to optimise the performances of the slip sensor.
The developed slip sensor provides a cheap and flexible solution for measuring relative motion between tool and surface. Combined with the use of a force sensor, the proposed scheme can be introduce more autonomy in industrial application like polishing or deburring.
The paper introduces a novel slip and force control concept for coping with the industry requirement of introducing more automation in the finishing of surfaces. Such a control concept allows on one hand the finishing of moving parts and at the same time increases the flexibility of the programming and reduces the user effort.
