A machining device for scraping a workpiece is provided. The machining device includes: a drive unit for driving a scraper; a first detection unit for detecting the position of the scraper; a second detection unit for detecting the machining force of the scraper with respect to the workpiece; a first acquisition unit for acquiring information relating to displacement of the scraper; a second acquisition unit for acquiring information relating to the machining force of the scraper; and a control unit for driving the drive unit based on the information relating to the displacement of the scraper by the first acquisition unit and the information relating to the machining force of the scraper acquired by the second acquisition unit, so the displacement and the machining force of the scraper satisfy a prescribed relationship. A control device and a control method for the machining device are also provided.

Systems and methods are provided to refurbish a commutator in-place without disassembly of a motor generator. The disclosed system may include a drive/brake system for controlling the rotation of the commutator during the refurbishment process, and a multi-axis Computer Numerical Control (CNC) motion and machining platform for controlling processing and refurbishment devices that traverse the commutator surface. Such devices may include an undercutting device to remove dielectric material from between commutator bars, a stoning device to obtain a polished surface finish for the commutator, and a chamfering device to remove burrs at the edges of the commutator grooves left by the stoning process. Alignment and inspection devices may be utilized along with mobile panels and cameras. The subsystems and components of the disclosed system may comprise a modular implementation designed for transportation and assembly in space-constrained environments.