DecompGrind：一种通过切削面规划和接触力适应的机器人磨削分解框架
DecompGrind: A Decomposition Framework for Robotic Grinding via Cutting-Surface Planning and Contact-Force Adaptation
AI总结：
本文提出DecompGrind框架，通过分解磨削过程为去除形状规划和接触力适应，解决不同形状和材料硬度工件的高效磨削问题，实现安全接触力控制。
摘要：
机器人磨削广泛用于制造中工件成形，但高效自动化仍具挑战性。尤其在处理不同形状和材料硬度工件时，去除阻力随局部接触条件变化而变化。此外，准确估计去除阻力和形状转换的分析建模困难，基于学习的方法通常需要大量训练数据覆盖多样加工条件。为解决这些挑战，我们将机器人磨削分解为两个组成部分：去除形状规划和接触力适应。基于此框架，我们提出DecompGrind，结合全局切削面规划（GCSP）和局部接触力适应（LCFA）。GCSP通过当前和目标形状的几何分析确定去除形状，无需学习；LCFA利用双向控制基于模仿学习学习接触力适应策略，在磨削每个去除形状期间。这种分解限制学习到局部接触力适应，允许策略从少量演示中学习，同时通过几何方法处理全局形状转换。使用机器人磨削系统和3D打印工件的实验表明，能够高效磨削不同形状和材料硬度的工件，同时保持安全的接触力水平。
英文摘要：
Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging because removal resistance varies with local contact conditions. Moreover, it is difficult to achieve accurate estimation of removal resistance and analytical modeling of shape transition, and learning-based approaches often require large amounts of training data to cover diverse processing conditions. To address these challenges, we decompose robotic grinding into two components: removal-shape planning and contact-force adaptation. Based on this formulation, we propose DecompGrind, a framework that combines Global Cutting-Surface Planning (GCSP) and Local Contact-Force Adaptation (LCFA). GCSP determines removal shapes through geometric analysis of the current and target shapes without learning, while LCFA learns a contact-force adaptation policy using bilateral control-based imitation learning during the grinding of each removal shape. This decomposition restricts learning to local contact-force adaptation, allowing the policy to be learned from a small number of demonstrations, while handling global shape transition geometrically. Experiments using a robotic grinding system and 3D-printed workpieces demonstrate efficient robotic grinding of workpieces having different shapes and material hardness while maintaining safe levels of contact force.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
