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Additional info for BS EN 1926:2006 Natural stone test methods. Determination of uniaxial compressive strength
1) is a stable non-minimum phase system, and its root locus is shown in Fig. 7. Fig. 2 Process Force Model MRR is a measurement of how fast material is removed from a workpiece; it can be calculated by multiplying the cross-sectional area (width of cut times depth of cut) by the linear feed speed of the tool: MRR w d f Where (2) w is width-of-cut (mm), d is depth-of-cut (mm), f is feed speed (mm/s). Since it is difficult to measure the value of MRR directly, MRR is controlled by regulating the cutting force, which is readily available in real-time from a 6-DOF force sensor fixed on the robot wrist.
5N/μm. From our calculation, K g is negligible compared to K q as this is a relative small deformation compared to the scale of robot structure. Thus, the conventional formulation is selected in this research for stiffness modelling. In this model, robot stiffness is simplified to six rotational stiffness coefficients, that is, equivalent torsional spring with stiffness K as each joint is actuated directly with AC motor. Also from the control point of view, this model is the easiest to implement, since these are the 6 degree of freedom of the robot, which could be directly compensated by joint angles.
The idea of programming by demonstration (PbD) has been proposed long time ago, while requirement of additional hardware devices and complicated calibration process make it unattractive in practical applications. The major advantage of the PbD method proposed here is that no additional devices and calibration procedures are required. The only sensor implemented for force feedback is an ATI 6 DOF force/torque sensor. This simple configuration will minimize the cost and simplify the complexity of the programming process greatly.