Adaptive human-robot collaboration for robotic grinding of complex workpieces

摘要

This paper presents an adaptive intelligent human-robot collaborative approach to facilitate trajectory planning for robotic belt grinding of complex parts. The approach bridges the experience of skilled operators through an immer-sive virtual reality based interface that allows operators to demonstrate a favourable grinding trajectory via perceiv-ing the grinding forces and observing the simulated grinding effects, and adaptively adjust key grinding parameters based on their experience. This approach combines the advantages of human intelligence and skills with the move-ment accuracy of robots to enhance the trajectory planning efficiency and ground surface quality.

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