Adaptive human-robot collaboration for robotic grinding of complex workpieces |
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| Affiliation: | 1. School of Mechanical and Automotive Engineering, South China University of Technology, China;2. Mechanical Engineering Department, Faculty of Engineering, National University of Singapore, Singapore;1. Key Laboratory of Micro-systems and Micro-structures Manufacturing of Ministry of Education, China, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China;2. Center for Precision Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China;3. College of Precision Instruments and Optoelectronics Engineering, Tianjin University, Tianjin 300072, China;1. Department of Electrical and Computer Engineering University of Kentucky, Lexington, KY, United States of America;2. Department of Mechanical Engineering, University of Kentucky, Lexington, KY, United States of America;3. Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, OH, United States of America;1. Department of Mechanical Engineering, Keio University, Yokohama 223-8522, Japan;2. Nidec Machine Tool Corporation, Ritto, Shiga 520-3080, Japan |
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| Abstract: | This paper presents an adaptive intelligent human-robot collaborative approach to facilitate trajectory planning for robotic belt grinding of complex parts. The approach bridges the experience of skilled operators through an immersive virtual reality based interface that allows operators to demonstrate a favourable grinding trajectory via perceiving the grinding forces and observing the simulated grinding effects, and adaptively adjust key grinding parameters based on their experience. This approach combines the advantages of human intelligence and skills with the movement accuracy of robots to enhance the trajectory planning efficiency and ground surface quality. |
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