An adaptive framework for robotic polishing based on impedance control

• Main Authors: Lakshminarayanan, Srinivasan, Kana, Sreekanth, Mohan, Dhanya Menoth, Manyar, Omey Mohan, Then, David, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering; Collaborative Robots; Impedance Control
• Online Access: https://hdl.handle.net/10356/155152
• Institution: Nanyang Technological University

Precise finishing operations such as chamfering and filleting are characterized by relatively low contact forces and low material removal. For such processes, conventional automation approaches like pre-programmed position or force control without adaptations are not suitable to obtain fine surface...