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Force Controlled Knife-Grinding with Industrial Robot

Publiceringsår: 2012
Språk: Engelska
Sidor: 1356-1361
Publikation/Tidskrift/Serie: [Host publication title missing]
Dokumenttyp: Konferensbidrag
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.


This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife, following the path defined by the earlier identified shape, while applying the desired contact force to the revolving grinding wheels.

The experimental results show that the knives can be sharpened satisfactorily. An industrial application has also been developed and tested, and it has produced a sharpening quality equal or greater to that achieved manually.


  • Control Engineering


2012 IEEE Multi-Conference on Systems and Control
  • LCCC-lup-obsolete
  • ISSN: 1085-1992

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