A Path Planning Method Under Constant Contact Force for Robotic Belt Grinding

  • Tao Wang
  • Huan ZhaoEmail author
  • Qianlong Xie
  • Xiangfei Li
  • Han Ding
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


Recently, because of better flexibility and lower cost than CNC machine tools, industrial robots have been widely used in the manufacturing of complex surface parts, especially in blade grinding. However, studies on robotic blade grinding path planning are relatively less and it is still a challenge to realize path planning under constant force constraints. To this end, based on equal arc length method and parameter method, a planning method for robot grinding blades is presented in this paper. Specifically, the equal arc length method is used for plan the step length, the parameter method is used for plan the row spacing, constant force contact is to ensure continuous contact, and the robot speed planning is to guarantee the processing contact time. This method has the advantage of good surface consistency. Some experiments are conducted on an Comau robot NJ-220. The experimental results show that the roughness value can be stabilized at about \( 0. 1\,\upmu{\text{m}} \), and improves the surface processing quality of the workpiece, which validates the effectiveness of the proposed method.


Complex surface parts Robotic belt grinding Constant force constraints Path planning Equal arc length method Parameter method Roughness 



This work was supported by the National Key Research and Development Program of China under Grant No. 2017YFB1303401, the National Natural Science Foundation of China under Grant Nos. 91748114 and 51535004.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Tao Wang
    • 1
  • Huan Zhao
    • 1
    Email author
  • Qianlong Xie
    • 1
  • Xiangfei Li
    • 1
  • Han Ding
    • 1
  1. 1.State Key Laboratory of Digital Manufacturing Equipment and TechnologyHuazhong University of Science and TechnologyWuhanPeople’s Republic of China

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