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A force-control-based robotic machining system is introduced in this paper. Firstly, the machining process is analyzed. Three key technologies: lead-through teaching, path learning and template-based automatic program generation are described and then a fast programming method is proposed. It is proved practically that it can shorten the programming time from days to minutes in robotic machining programming.
This paper presents the critical issues and methodologies to improve robotic machining performance with industrial robots. A complete solution using active force control is introduced to address various issues arouse during the robotic machining process. Programming complex contour parts without a CAD model is made easy using force control functions such as lead-through and path-learning. The problem...
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