Mechatronic Design and Control of a Robot System for Grinding

Abstract

Utilization of Hierarchical Systems (HS) approach in mechatronic design of a robot system for grinding (RSG) is described in the article. Developed conceptual model of the considered RSG combines systemic representations of the RSG mechatronic units - computer, electrical, mechanical - presented within the limits of HS formal construction. RSG construction, RSG dynamical representation, RSG control subsystem, and RSG tasks are described in the work. Typical cases of RSG coordination, robot learning and grinding simulation utilizing Mimicking Kit set and RobWork software accordingly are also considered in the paper.