DYNAMIC PATH GENERATION VIA LOAD MONITORING WITH A FORCE SENSOR FOR ROBOT PROCESSING USING A CHISEL

Following a static path, pre-calculated as the tool trajectory, cannot reflect potential changing states during the machining process. Therefore, adjusting to environmental differences between the assumed and actual conditions, such as variations in the physical properties of the material, is not possible. In this study, the tool path was dynamically changed by monitoring the load applied to the tool during processing. Furthermore, applying our method to processing with a chisel demonstrates that parts can be machined appropriately via dynamic path generation.