NC controlled robot for adaptive and constant force 3D polishing

Industrial robot manipulators have been historically used for applications requiring high flexibility and repeatability. However, in the last years new applications linked to direct involvement of the robots in manufacturing processes have arisen, with increased demands in path tracking, dynamics, and accuracy. In this paper, an external Numerical Control based controller is used to command an industrial 6 dof manipulator, allowing the possibility to command the robot using ISO G-Code, and integrating control functionalities like kinematic transformations and Adaptative Impedance Control. An adaptive and force controlled robotic polishing cell has been set-up as a demonstrator, showing successful polishing performance.