Modelling of the Puma Robot for Control of Grinding Applications

In this paper, the identification problem of the PUMA 762 robot for grinding applications is considered by using several different recursive identification methods. A detailed procedure of modelling the robot is described. Various experiments have been performed using the PUMA 762/VAL II industrial robot equipped with a 4 Hp pneumatic grinder and a JR3 force sensor. The PUMA 762 robot has been successfully modelled by a linear third order model with reliable accuracy. The nonlinearities of the robot have been investigated by utilizing different pseudorandom binary sequence (PRBS) signals. Clearly, these linear models, representing the input-output dynamics of the robot, will make it possible to design and develop adaptive controllers for the robotic grinding process.