Automatic Object Tracking and Grinding Control with a Robot Manipulator
In this paper, an automatic object tracking and grinding control system using a robot manipulator was developed.
The system can perform a force-feedback grinding control of a still object and a moving object as well. The system first uses a
3D camera to detect the object and its depth information and then performs coordinate transformation to obtain the object
coordinates in the robot arm coordinate system. Furthermore, we calculate the moving speed of the object and plan the grinding
path. During the grinding process, a pressure sensor is employed and a Kalman filter is used for more stable pressure readings.
Finally, we use a proportional controller to ensure a constant grinding force applied to the object by suitably moving the robot
arm in the z direction. Experimental results validate effectiveness of the object tracking and grinding control system.
Index Terms - Automatic Tracking, Grinding Control, Robot Arm.