N. D. Vuong, Tao Ming Lim: Mechatronics Group, Singapore Institute of Manufacturing Technology, Singapore
Guilin Yang: Institute of Advanced Manufacturing, Ningbo Institute of Materials Technology and Engineering of the Chinese Academy of Sciences, Zhenhai District, Ningbo, Zhejiang, PR China
58.1 Introduction
58.2 Simulation and Off-Line Programming
58.3 Off-Line Programming Case Study: Automated Surface Grinding
Background
Considerations for Programming Robots for Grinding Operations
Off-Line Programming for Contact Operations
58.4 Summary, References
Abstract
Although noncontact-type operations, such as pick-and-place or spot welding, are still commonly being used nowadays, there is an increasing interest on developing and applying “compliant motion” (i.e., motion and force) control on industrial robots for contact-type operations. For these operations, the required robot motion can be complex depending on the workpiece geometry. As a result, realizing these tasks using online programming methods is usually inadequate in terms of productivity in practice. The focus of this chapter is on the simulation and off-line programming process for contact-type operations, where some level of interaction between the robot and the workpiece/environment are required. Due to this interaction, some additional issues arise during the programming process. Solutions for these problems will be brought up, and readers can refer to the cited references for detailed discussions. A case study on robotized surface grinding systems based on the experience on industrial projects will also be presented to further assist readers on the actual implementation.