A method for grinding removal control of a robot belt grinding system

As a kind ofmanufacturing systemwith a flexible grinder, the material removal of a robot belt grinding system is related to a variety of factors, such as workpiece shape, contact force, robot velocity, and belt wear. Some factors of the grinding process are time-variant. Therefore, it is a challenge to control grinding removal precisely for free-formed surfaces. To develop a high-quality robot grinding system, an off-line planning method for the control parameters of the grinding robot based on an adaptivemodelingmethod is proposed in this paper. First, we built an adaptive model based on statistic machine learning. By transferring the old samples into the new samples space formed by the in-situ measurement data, the adaptivemodel can track the dynamicworking conditions more rapidly. Based on the adaptive model the robot control parameters are calculated using the cooperative particle swarm optimization in this paper. The optimization method aims to smoothen the trajectories of the control parameters of the robot and shorten the response time in the transition process. The results of the blade grinding experiments demonstrate that this approach can control the material removal of the grinding system effectively.