Current robot polishing techniques are available for objects with computer-aided design geometric models but not for objects without geometric models such as ceramic or clay pots. In this study, we developed a robotic polishing/fettling system to polish the molding defects of ceramic objects. The polishing force on the object surfaces is required to be constant to obtain better results. Thus, the proposed robotic polishing system was designed with a stepper motor, ball screw, and force sensor. The proposed system acquired a rough robot polishing/fettling trajectory and adopted a fuzzy proportional–integral–derivative controller to regulate the trajectory to maintain the desired contact force response from a ceramic object. We developed the temporary desired value technique to make the polishing force response close to the desired one. We validated the system on a six-degrees-of-freedom Staubli TX 40L robotic arm. Experiments were performed to test the effectiveness of the system. The robot trajectory responses showed that the proposed system performed well in tracking the desired force in the polishing/fettling process. We used a 3D microscope to verify that the molding defect of the ceramic pot was significantly removed to evaluate the polishing/fettling quality.

当前的机器人抛光技术可用于具有计算机辅助设计几何模型的对象，但不适用于没有几何模型的对象，例如陶瓷或陶罐。在这项研究中，我们开发了一种自动抛光/修整系统来抛光陶瓷物体的成型缺陷。为了获得更好的结果，要求对物体表面的抛光力保持恒定。因此，提出的机器人抛光系统设计有步进电机，滚珠丝杠和力传感器。拟议的系统获得了粗糙的机器人抛光/修整轨迹，并采用了模糊比例-积分-微分控制器来调节轨迹，以保持陶瓷物体所需的接触力响应。我们开发了临时的期望值技术，以使抛光力响应接近期望值。我们在六自由度Staubli TX 40L机械手臂上对系统进行了验证。进行实验以测试系统的有效性。机器人的轨迹响应表明，所提出的系统在抛光/修整过程中跟踪所需的力方面表现良好。我们使用3D显微镜来验证陶瓷锅的成型缺陷已被显着去除，以评估抛光/抛光质量。