A computer-controlled robotic arm performs operations upon a workpiece, such as a knife with a blade that requires sharpening, by a set of one or more workstations, such as a grinder and a polisher. A position target having a defined surface profile is attached to the robot arm and scanned by a profilometer to determine a relative position of the arm with respect to a target centerpoint feature. The arm is then used to manipulate the centerpoint feature to locate operating features, such as a grinder's grinding surface, of the various workstations in the robot arm's coordinate system. A workpiece grasped by the robot arm is then scanned along with the target or another target to locate and profile the workpiece relative to the target. Based on the determined profile and positional relationships, the robot arm manipulates the workpieces so as to be operated upon by the workstations.

Techniques are provided for controlling the contact force in a single-axis, force-controlled tool responsive to dynamic process variables such as tool orientation relative to the workpiece, curvature of the workpiece wear of the abrasive media and other dynamic process variables that are not otherwise controlled by a single-axis, force-controlled actuator. A control system includes sensors for determining a contact force between the tool and the workpiece along a single-axis of compliance, and one or more additional process parameters, such as an overturning moment on the tool due to the orientation of the workpiece and surface curvature, torque about an axis of rotation of the tool, etc. The control circuit uses the measurement of these additional parameters are used to determine the control force between the tool and the workpiece.

An apparatus for automated contact tasks and a related method are described. The apparatus includes a mechanical interface for connecting the apparatus to a manipulator, a holder for receiving a tool and being movable in relation to the mechanical interface, at least one actuator for positioning the holder in relation to the mechanical interface, a sensor unit that senses the actuator force provided by the at least one actuator, and a control unit that sets the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface, and detects contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force. The control unit further regulates the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected.

Working system for an application of force onto a workpiece, with a pneumatic actuator having an actuator housing designed to be fixed to a manipulator and a moveable element designed to couple an end effector and movably received on the actuator housing, and with a controller having a valve arrangement for a compressed air supply to the pneumatic actuator, has a position sensor system for determining a spatial position of the pneumatic actuator and for providing position-dependent electrical position sensor signals, and a processing system for processing the position sensor signals and for providing control signals to the valve arrangement, the processing system being designed for controlling a pneumatic supply to the pneumatic actuator as a function of the position sensor signals.

A process for automated sanding of a vehicle component surface is provided and includes providing a sanding mechanism having a sanding head engaged with a housing, a rotary motor contained within the housing, the rotary motor having a drive shaft rotatable about an axis and extending outwardly therefrom, a radial plate attached to a first end of the drive shaft, and a sanding disk having an abrasive surface releasably attached to the radial plate; attaching the sanding head to a gimbal having a pressure sensor; powering the rotary motor driving rotation of the drive shaft, the radial plate and the sanding disk in at least one of a clockwise or counterclockwise direction; movably applying the sanding disk to the surface at a maintained constant pressure; and achieving a desired finish on the surface prepared to be primed and painted to a class A auto high sheen surface finish.

A device for performing maintenance on an object is provided. The device for performing maintenance on an object comprises an attaching means that enables the device to attach to a part of an object, the attaching means being configured to deform in accordance with a shape of a part of the object, a moving means that enables the device to move on the object, and a maintenance means that performs maintenance on the object. In one embodiment of the present invention, the attaching means is configured so that the device maintains a state of attaching to the part of the object by the deformation of the attaching means even when a shape of a part of the object changes in association with the movement.

The invention relates to a device (100) for the grinding and/or polishing of planar surfaces, comprising a grinding and/or polishing tool (20), a frame (40), a workpiece (32) or a holder (30) for at least one workpiece, and a means (10) for moving the frame and the workpiece holder (30) with the workpiece, characterized in that the device (100) is set up in such a way that a loose bearing is formed between the workpiece (32) or the workpiece holder (30) and the frame (40), and the means (10) for moving the frame (40) and the workpiece (32) or the workpiece holder (30, 30′) with the at least one workpiece (32) is configured in such a way that the workpiece (32) or the workpiece holder (30) with the at least one workpiece (32) is guided in a plane which is predetermined by the surfaces of the at least one workpiece (32) resting on the grinding and/or polishing tool (20).

The invention also relates to a method for the polishing of planar optics by using the device (100).

Disclosed herein is an impedance control system for a robot arm. The system is able to provide at least two different levels of stiffness/compliance, and values for stiffness/compliance in the can be independently defined and set in at least first and second directions. Specifically, this allows the stiffness in said first direction to be set at a lower value than the stiffness in said second direction within the control system.

An apparatus for robot-supported grinding includes: a manipulator; a grinding machine; a linear actuator coupling the grinding machine to a tool center point (TCP) of the manipulator; an extraction system connected to an outlet in a housing of the grinding machine; and a hose connecting the extraction system to the outlet in the housing of the grinding machine. The hose is arranged around the housing of the grinding machine and the linear actuator in a roughly spiral-formed manner and is attached at one end to the manipulator.

The invention relates to a method for the automated grinding of surfaces and to a corresponding device. According to one exemplary embodiment, the method comprises the robot-assisted positioning of a grinding machine with a grinding tool, so that the grinding tool contacts the surface when the grinding machine is operated at a first rotational speed, and the detection of the contact between the grinding tool and the surface. The method further comprises, as a result of detecting the contact, the increase in the rotational speed of the grinding tool from the first rotational speed to a second rotational speed.