Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach

• Main Authors: Abd El Khalick Mohammad, Hong, Jie, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Force-control; Low-inertia
• Online Access: https://hdl.handle.net/10356/141458
• Institution: Nanyang Technological University

In this paper, the novel design of a force-controlled end-effector for automated polishing processes is presented. The proposed end-effector is to be integrated into a macro-mini robot polishing cell. The macro robot (in this study, it is a six-axis industrial robot) is used to position the mini rob...