Contribution to Solving Dynamic Robot Control in Machining Process
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.
KeywordsMachine Process Feedback Gain Dynamic Control Jacobian Form Manipulation Task
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