Abstract
In the vertical plane, robotic grinding is very difficult because it requires a big actuator torque due to the enormous gravity force effect of the tools and the robot-arm. A new grinding strategy has been developed for a low power robot-arm in the vertical plane using a suspension system, where the lifting force of spring balancer compensates the gravity force of the tools and the robot-arm. For robotic grinding, to achieve position and force tracking simultaneously, this paper shows the hybrid position/force control strategy with respect to the dynamic behavior of spring balancer. The effectiveness of the proposed method is shown by simulation and experiments using a 2 DOF robot with a suspension system in the vertical plane.
