Control strategy for multipass robotic grinding

This paper describes a control strategy for removing unwanted material in multiple passes using a robotic disk-grinding system. The system, which is interlinked with a PC, consists of an industrial robot equipped with a pneumatic grinder, a six-degree-of-freedom force sensor, and two noncontact inductive proximity sensors. During grinding, a generalized predictive controller adapts its own decision following an optimal locus and controls the …