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Position and Force Control of a Robotic System for High Precision Machining of Complex Surfaces

  • AUTOMATION AND CONTROL IN ENGINEERING
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Abstract

The position and force control of a robotic system to perform high-precision operations for machining complex surfaces are considered. A block diagram of the position and force control system is presented, and computations and calculations of the velocity of the longitudinal displacement and its relationship with the transverse displacement and pressure force between the cutting edge of the tool and the machining surface are provided. The structure of the system generating force action and the modeling of this system in the Matlab–Simulink system are described.

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REFERENCES

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Funding

This work was supported by ongoing institutional funding. No additional grants to carry out or direct this particular research were obtained.

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Authors and Affiliations

  1. Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN), Moscow, Russia

    V. L. Afonin & V. V. Sleptsov

  2. Research Institute of Engine, United Engine Corporation, Moscow, Russia

    M. G. Yakovlev

Authors
  1. V. L. Afonin
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  2. V. V. Sleptsov
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  3. M. G. Yakovlev
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Corresponding author

Correspondence to V. L. Afonin.

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The authors of this work declare that they have no conflicts of interest.

Additional information

Translated by D. Zabolotny

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Afonin, V.L., Sleptsov, V.V. & Yakovlev, M.G. Position and Force Control of a Robotic System for High Precision Machining of Complex Surfaces. J. Mach. Manuf. Reliab. 52, 910–915 (2023). https://doi.org/10.1134/S1052618823080022

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  • DOI: https://doi.org/10.1134/S1052618823080022

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