Contents I. Introduction
Industrial robot is an intelligent machine combining integration, intelligence, action, versatility, flexibility, individuality, and real-time in one, widely used in welding, spraying, assembly, polishing etc. [1]–[4]. As far as the field is concerned, instead of people, avoiding endanger his health in harsh environment, polishing robot takes on the grinding operations. For small batch, multi variety of polishing operation, it can effectively improve work efficiency and product quality [5]. However, in the process of polishing using industrial robot, the robot is required to maintain a constant force when its position and orientation changes at the workpiece [6], and to ensure a high accuracy and dynamic response of operation [7]–[8]. Due to the rigidity of the robot itself and the force/position coupling in the end of robot [9]–[11], the complexity and difficulty of robot control is increased. Therefore, this paper designed a device named force control flange, which independs from the industrial robot body, decouples the force/position coupling of the polishing process of industrial robots, increases flexibility, and reduces the requirement to robot positioning accuracy.
