Path planning of grinding robot with force control based on Bspline curve In order to realize the stable control of grinding force during the robot grinding process, a robotic path optimization method based on Bspline curve is proposed. According to the given control points, the function model of Bspline curve was established to interpolate, and the path based on Bspline curve was fitted to achieve the goal of path smoothing. The test experiment of grinding force was carried out and the experiment results showed that the force change of the path based on Bspline curve was less fluctuation than that of the general path. Therefore, the path based on Bspline curve can effectively reduce the fluctuation and deviation of grinding force in machining process and provide a stable machining environment for realizing the constant control of grinding force.

Modeling and Force Control of Robotic Polishing System for the Wheel Hubs Polishing is a key step in the manufacturing of wheel hubs since it will affect the appearance and performance of the wheel hubs. In this paper, a robotic polishing system is designed for the wheel hubs. To facilitate variable selection and controller design, the polishing process is firstly modeled. A roughness model considering the classic Preston material removal model is proposed. The roughness model aims at controlling the surface roughness rather than the material removal of the workpiece, which is more suitable for the robotic polishing for the wheel hubs. Then, a positionforce hybrid control framework is proposed for the robotic polishing system. To improve the performance of the force control, a threelevel rulebased adjusting method is designed and robot motion trajectory is planned based on the resolution surface of the wheel hubs. Finally, polishing experiments on the wheel hubs are fully conducted to demonstrate the effectiveness of the proposed modeling and control method of this paper.