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Performance Optimization of Robotic Polishing System with a 3-DOF End-Effector Using Trajectory Planning Method

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14271))

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Abstract

A robotic polishing system is usually composed of an industrial robot (macro-robot) and an end-effector (micro-robot), called a macro-micro robotic system. The macro-robot is mainly responsible for path tracking, while the micro-robot implements force control for polishing. This combination has the advantages of large workspace and fast response. However, the traditional end-effector usually has only one degree of freedom (DOF). It can hardly provide optimization space for trajectory planning of the macro-robot, which affects the polishing quality to some extent. Therefore, we developed a 3-DOF end-effector to compensate for the motion of the macro-robot, especially for curved surface polishing. The trajectory planning is modeled as an optimal control problem, and Gauss pseudospectral method is used as the corresponding solution strategy. Finally, in polishing simulations of the arc path, the 3-DOF end-effector is proved to be superior to the traditional 1-DOF one in trajectory planning.

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Acknowledgment

This work was supported by National Key Research and Development Program of China (2022YFB4702500), the Key Research and Development Program of Zhejiang Province (2022C01101, 2022C01096), the Natural Science Foundation of Zhejiang Province (LD22E050007) and the Ningbo Key Project of Scientific and Technological Innovation 2025 (2022Z037, 2021Z020, 2022Z065).

Author information

Authors and Affiliations

  1. Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences, Ningbo, 315201, China

    Yaohua Zhou, Chin-Yin Chen, Guilin Yang & Chi Zhang

  2. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo, 315201, China

    Yaohua Zhou, Chin-Yin Chen, Guilin Yang & Chi Zhang

  3. University of Chinese Academy of Sciences, Beijing, 100049, China

    Yaohua Zhou

Authors
  1. Yaohua Zhou
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  2. Chin-Yin Chen
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  3. Guilin Yang
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  4. Chi Zhang
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Corresponding author

Correspondence to Chin-Yin Chen .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zhou, Y., Chen, CY., Yang, G., Zhang, C. (2023). Performance Optimization of Robotic Polishing System with a 3-DOF End-Effector Using Trajectory Planning Method. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_28

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  • DOI: https://doi.org/10.1007/978-981-99-6495-6_28

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6494-9

  • Online ISBN: 978-981-99-6495-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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