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
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Article
• 語言: English
• 出版: 2022
• 主題: Engineering::Mechanical engineering; Collaborative Robots; Impedance Control
• 在線閱讀: https://hdl.handle.net/10356/155152
• 機構: 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...