Compliant motion control for robust robotic surface finishing

With the emergence of stable and responsive robotic compliant motion control, introducing robotic grinding and deburring to industry may soon be feasible. Technical needs for this transition include means to accommodate imprecise fixturing, a method for simple, intuitive and dependable programming, and the ability to monitor process progress online. We describe a new hybrid form of Natural Admittance Control that is used to address these challenges.