Task Cartesian Coordinate Frame based High Precision 3D Adaptive Robust Contouring Control Contouring error is an important index for the surface precision of work pieces in tracking motion. In this paper, for settle the contouring error estimation which is only calculated on tangent line along the desired trajectory and improve 3D contouring performance under disturbances, an adaptive robust controller (ARC) is adopted in task cartesian coordinate frame (TCCF). In addition, The TCCF can reduce the number of controller from three dimension regulation problem to two which is compared with the task coordinate frame (TCF). Theoretically, the controller is proved that the stability can be achieved. Experiments are conducted in a three axis servo system. Compared with computedtorque controller (CTC), ARC in TCCF can get higher overall contouring precision under the disturbances drastically and reduce the number of controllers.

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.