Robot control system for grinding of large hydro power turbines

Presents a robot control system dedicated to grinding large Francis turbines. The control system is based on an active force feedback system using a three-axes force sensor attached to the robot's end effector. This system offers high flexibility and robustness against workpiece positioning and grinding tool wear. It provides control of the grinding process parameters ensuring high productivity in addition to good grinding performance and grinding tool economy. The system was experimentally tested out on a MultiCraft 560 grinding robot.