RoManSy 6 pp 591-602 | Cite as

Contribution to Solving Dynamic Robot Control in Machining Process

  • D. Vujić
  • M. Vukobratović


In this paper the possibility for dynamic control of robots in machining process is presented. On the basis of closed chain theory the nominal dynamics is calculated and the dynamic control ensuring desired reaction force during machining process is synthesized. The numerical example of grinding process with a six-degree-of-freedom manipulator is presented.


Machine Process Feedback Gain Dynamic Control Jacobian Form Manipulation Task 


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  1. [1]
    Vukobratovid M., Potkonjak V., Applied Dynamics and CAD of Manipulation Robots, Vol. 6, Springer-Verlag, Berlin, 1985.Google Scholar
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    Vukobratovit M., Stokit D., Control of Manipulation Robots: Theory and Application, Vol. 2, Springer-Verlag, Berlin, 1982.Google Scholar
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    Vukobratovit M., Potkonjak V., Dynamics of Manipulation Robots: Theory and Application, Vol. 1, Springer-Verlag, Berlin, 1982.Google Scholar
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    D. Vujie, M. Vukobratovit, V. Potkonjak, Contribution to the solving of robot dynamic control in machining process (in serbian), 132–141, Forth Yugoslav symposium on applied robotics, Vrnjatka Banja, 1985.Google Scholar
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    Y. Furukawa, S. Ohishi, Adaptive Control of Creep Feed Grinding to Avoid Workpiece Burn, 64–69, Proceedings of the 5th, International Conference on Production Engineering, Tokyo, 1984.Google Scholar
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    K. Nakayama, J. Takagi, T. Fukuda, In-process Measurement of Grinding Wheel Sharpness, 294–299, Proceedings of the 5th International Conference on Production Engeneering, Tokyo, 1984.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • D. Vujić
    • 1
  • M. Vukobratović
    • 2
  1. 1.Mihailo Pupin InstituteBeogradYugoslavia
  2. 2.Goša InstituteBeogradYugoslavia

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