| 摘要 |
A method and apparatus for a robotic machining process that gives a controlled removal rate of material from a workpiece when an object, tool or workpiece, held by a robot is brought into contact with a stationary object, workpiece or tool. A signal indicative of the force applied by the held object t the stationary object is used to control the rate at which the robot moves the held object in relation to the stationary object. Associated with the robot is a controller that has tunable proportional and integral gains. The controller determines a command for the feed rate of the tool when the tool engages the workpiece. In response to that command, the proportional and integral gains are tuned to obtain a cutting force to be applied to the workpiece when the tool engages the workpiece that is substantially the same as a desired cutting force.
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