Teaching and control of robot contour-tracking using contact point detection

Abstract

New methods for teaching and controlling contour-tracking tasks based on contact sensing are developed to improve robotic machining. Accurate contact point detection is introduced to estimating a work contour path with high reliability. These teaching methods reduce the effort for task teaching and improve adaptability to handle changes in task specifications without re-teaching. Real-time contour tracking control using this contact sensing to suppress work uncertainties in process is presented. Experimental results for practical grinding tasks using a 6 DOF manipulator validate our methods.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>