Abstract
A new teleoperated grinding bobot has been developed which can safely and efficiently carry out grinding tasks in hostile environments using remote control and automatic control. This robot system incorporates a new method for the measurement of the grinding force, in which the grinding force is measured from a moment about the grinder head's center of gravity. The influence of inertial forces caused by translational motion is removed so that high stability is achieved. Furthermore, this robot can change the grinder's orientation to follow the surface of an object automatically, and can also grind the surface of an object into a desired shape. In this paper, We propose a new method for the measurement of the grinding force and also force control methods for unstructured grinding tasks.
