Surface Normal Generation and Compliance Control for Robotic based Machining Operations

The integration of robots into machining operations has gained momentum over recent decades. However, challenges such as keeping normal and constant contact with the curved workpiece still persists. To cope with these challenges, this study proposed a point cloud based surface normal generation and compliance control technique for robotic based machining operations on uneven surfaces. The surface normal ensures a perpendicular contact with the workpiece and the model-reference adaptive control (compliance controller) scheme employed to ensures a compliant constant surface contact during machining operation. This Cartesian compliance control scheme effectively track the position demand and maintain a compliant contact by adjusting the vertical position (Cartesian Z) to limit the amount of the interaction force. This innovative approach holds potential for enhancing machining on curved surfaces, overcoming persistent challenges, and advancing robotic-based machining processes.