Robot control system for safe and rapid programming of grinding applications

摘要

Presents a robot control system dedicated for grinding and deburring robots. The control system is based on an active force feedback system using three axes force sensor attached to the robot’s end effector. This system offers new functionality in rapid programming of the robot by applying automatic programming and force supervision. The system is implemented and tested experimentally on a MultiCraft 560 robot with parallel kinematics. The experimental results show a significant reduction in the programming and set up time compared to conventional robot control systems.