Development of an impeller grinding robot system and a gyro-moment compensated compliance control

A grinding robot system for casted pieces has been developed. The system applies the compliance control to a manufacturing process. The casted piece grinding requires it to grind the curved surface in tight area without burning and to follow the casted surface having no precise shape. A new model based compliance control has been developed that compensates a gyro-moments which occurs in the robot grinding tool by the robot motion. Previously, the robot could not generate a suitable mechanical compliance because the force sensor on the robot detected this moment as a part of the controlled pressure in grinding. This system is now applied to a manufacturing process of impellers and turbine blades.