A three-dimensional shape measuring instrument is provided for measuring a three-dimensional shape of the polishing subject face. A polishing controller is provided for controlling a polishing robot alone or with a polishing tool, based on three-dimensional shape data of the polishing subject face obtained by the shape measurement by the three-dimensional shape measuring instrument. The polishing tool provides a polishing action on the respective part of the polishing subject face through controlling of the polishing robot alone or with the polishing tool by the polishing controller. By controlling a measuring robot and the three-dimensional shape measuring instrument by the polishing controller, the three-dimensional shape measuring instrument moves to a predetermined measuring position relative to the polishing subject face to measure the three-dimensional shape of the polishing subject face.

A system and method for moving an object against a working surface of a finishing machine that is set in a fixed position. The object is moved in a precise movement pattern while following a precise contact pressure pattern. The object is moved against the working surface of the finishing machine using a robot with an articulating arm. Other movement is provided by a dynamic platform upon which the robot rests. The dynamic platform includes a linear slide that enables the robot to reciprocally move. The dynamic platform also includes an active contact flange that acts upon the linear slide. The active contact flange is programmable and imparts the contact pressure pattern to the object through the linear slide and the robot. A rotary table can also be provided that selectively rotates the robot, the linear slide and the active contact flange.

A wind power blade multi-robot cooperative grinding and roller coating operation assembly line system is provided and includes: a working platform; a blade tip transfer and tooling turning system and a blade root transfer and tooling turning system arranged on a middle of the working platform and configured to support and adjust a head and a tail of the wind power blade respectively; wind power blade automatic grinding robots and wind power blade automatic roller coating robots symmetrically arranged on the working platform and located on two sides of the wind power blade. An automatic processing of grinding and roller coating of wind power blades is realized, which can reduce labor intensity. An integration of omnidirectional transfer and weight of the wind power blades is realized, which can detect the weight in real-time. A blade sprain is avoided effectively, and a layout of an assembly line is more flexible.

A method includes: compiling lower-resolution images, captured during a global scan cycle executed over a workpiece, into a virtual model; defining a nominal toolpath and a nominal target force for the workpiece based on a the virtual model; detecting a defect indicator on the workpiece based on the lower-resolution images; accessing a higher-resolution image captured during a local scan cycle over the defect indicator; characterizing the defect indicator as a defect reparable via material removal based on the higher-resolution image; defining a repair toolpath for the defect based on the virtual model; navigating a sanding head over the workpiece according to the repair toolpath to repair the defect; and, during a processing cycle: navigating the sanding head across the workpiece according to the nominal toolpath and deviating the sanding head from the nominal toolpath to maintain forces of the sanding head on the workpiece proximal the nominal target force.

One variation of a method includes: accessing a maximum deflection distance of a workpiece; defining a first workpiece region characterized by a first compliance range; defining a second workpiece region characterized by a second compliance range greater than the first compliance range; assigning a nominal target force to the workpiece; navigating a sanding head across the first workpiece region during a processing cycle; driving the sanding head below a virtual unloaded surface of the workpiece stored in the virtual model to maintain forces, of the sanding head on the first workpiece region, approximating the nominal target force; calculating a maximum offset between the positions of the sanding head in the first workpiece region and the virtual unloaded surface; and, in response to the first maximum offset approaching the maximum deflection distance, assigning a lower target force to the second workpiece region of the workpiece.

A flange device using a voice coil motor and a contact control method thereof are disclosed. In the flange device, a force sensor, displacement sensor and an inertial measurement unit (IMU) are used to sense contact data, the contact data is filtered, and the filer contact data is calculated based on an attitude & heading reference systems (AHRS) algorithm, to obtain a force control command to control a displacement direction and a displacement distance of the flange device, so that the flange device is able to adjust a contact status between a polishing device and a to-be-polished object by using the voice coil motor, thereby achieving the technical effect of providing an electromagnetic contact-state adjustment device with quiet and precise control and fast response.

A pneumatic robotic tool, such as grinder, sander, etc., implements passive force control and compliance using two or more double-acting pneumatic pistons distributed about a pneumatic motor within the tool housing. The multiple pistons facilitate a compact design, reducing tool stack height, as compared to prior-art, single-piston designs. In one embodiment, filtered breather vents and an air pressure equalization passage maintain ambient atmospheric pressure throughout the tool, while preventing the infiltration of dust and other particulates. In one embodiment, a hard port rigidly affixed to the tool housing is provided for at least motor supply pneumatic fluid. The motor supply air is transferred from the hard port to the pneumatic motor via a flexible pneumatic fluid tube within the tool housing. In one embodiment, the pneumatic motor discharge air is vented from the tool housing in a sealed passage that accommodates the tool compliance motion, and prevents dust infiltration.

A teaching control method includes acquiring a plurality of teaching points from CAD data of a work target object and displaying the plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter. The classification processing for classifying the plurality of teaching points into the teaching point groups is executed using attribute information of the work target object obtained from the CAD data.

A teaching control method includes displaying three or more plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter.

A robotic device that can include an end effector configured to manipulate one or more tools that drives one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises: three linear actuators each configured to move orthogonal relative to one another and at least one tool mount coupled to one of the three linear actuators and coupled to the tool.