Research on Velocity Servo-Based Hybrid Position/Force Control Scheme for a Grinding Robot

In this paper, a velocity servo-based hybrid position/force control scheme for a grinding robot is presented. It simultaneously performs stable force control and exact position control along curved surface for a grinding robot. The force feedback loop changing the force to velocity, which will be used in the velocity servo-based robot, can control the force directly and has a faster response. The position feedback loop controls the grinding tool in a desired trajectory in Cartesian space. An overview of the control algorithm as well as the force data signal processing and the communication between force sensor and robot controller is described.