Parametric modelling and control of the robotic grinding process

The modelling and control of the grinding force for the robotic disc-grinding process are described. Modelling experiments were conducted using an industrial robot equipped with a pneumatic grinder and a force sensor. The models relating the commanded depth of cut to the corresponding normal grinding force was developed based on nine sets of experimental data. These data were collected at three different grinding paths with three different pseudo-random binary sequence amplitudes in order to fully investigate the dynamics of the process. Using the extended-least squares method for recursive parameter estimation, a linear fourth-order autoregressive moving average with exogenous variable model was successfully developed for the robotic disc-grinding process.Using the identified models, an adaptive pole placement controller was developed and tested using computer simulations, The purpose of the controller is to regulate the normal grinding force. The results demonstrate effective control under various grinding conditions.