Movement Modeling and Control for Robotic Bonnet Polishing

Movement Modeling and Control for Robotic Bonnet Polishing | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Original Article Movement Modeling and Control for Robotic Bonnet Polishing Zewen LIN, Zhenzhong Wang, Xuepeng HUANG This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-106436/v1 This work is licensed under a CC BY 4.0 License Status: Under Review Version 1 posted 9 You are reading this latest preprint version Abstract The spin axis of bonnet tool maintains a constant angle (precession angle) with the normal of polishing point in polishing. In this paper, a controlled model was established on robotic machining platform to polish large diameter axisymmetric aspheric optics. Based on the transformation relationship in spatial coordinate system, the relationships between workpiece coordinate system, polishing point local coordinate system and the bonnet tool coordinate system were set up respectively. So that the movement model of bonnet precession polishing was obtained. What’s more, the efficiency optimal control was added to the movement model. the trajectories and poses of the polishing were determined, and the change of robot linkage angle difference was obtained. Finally, the precession movement model and the control algorithm were verified by the simulation in the Robotstudio, an offline simulation software and experiment for plane component. Mechanical Engineering Robotic Polishing Bonnet polishing Precession movement Control Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Full Text Due to technical limitations, full-text HTML conversion of this manuscript could not be completed. However, the manuscript can be downloaded and accessed as a PDF. Cite Share Download PDF Status: Under Review Version 1 posted Editorial decision: Major revision 12 Dec, 2021 Reviews received at journal 09 Nov, 2021 Reviewer # 2 agreed at journal 08 Nov, 2021 Reviewer # 1 agreed at journal 08 Nov, 2021 Reviewers invited by journal 25 Nov, 2020 Editor assigned by journal 10 Nov, 2020 Submission checks completed at journal 10 Nov, 2020 Editor invited by journal 10 Nov, 2020 First submitted to journal 09 Nov, 2020 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-106436","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Original Article","associatedPublications":[],"authors":[{"id":4634050,"identity":"03194014-0e99-44b2-a97e-23a36941f619","order_by":1,"name":"Zewen LIN","email":"","orcid":"","institution":"Xiamen University","correspondingAuthor":false,"submittingAuthor":false,"prefix":"","firstName":"Zewen","middleName":"","lastName":"LIN","suffix":""},{"id":4634051,"identity":"b1dba629-4861-40af-84b6-25ae2a9541e7","order_by":2,"name":"Zhenzhong 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