Impedance controlled human–robot collaborative tooling for edge chamfering and polishing applications

• Main Authors: Kana, Sreekanth, Lakshminarayanan, Srinivasan, Mohan, Dhanya Menoth, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2022
• Subjects: Engineering::Mechanical engineering::Robots; Impedance Control; Edge Polishing
• Online Access: https://hdl.handle.net/10356/160490
• Institution: Nanyang Technological University

Surface finishing, as the final stage in the manufacturing pipeline, is a key process in determining the quality and life span of a product. Such a task is characterized by low contact forces and minimal material removal from the object surface. Despite the advancements in machine learning and artif...