Skill Transfer for Surface Finishing Tasks Based on Estimation of Key Parameters

This paper presents an approach for transferring surface finishing behaviors to new surfaces while preserving the quality of the process. The idea is to let a human demonstrate the desired grinding behavior on a planar surface and subsequently generate an equivalent grinding behavior on new surface geometry. The transfer of the process quality is accomplished by imitating the material removal rate of a human. This is achieved with an adaptive control that relies on the online estimation of the material removal rate, which depends on the contact area, normal force, tool speed, and tool wear. The proposed approach is verified in simulation and experimentally validated on the grinding of planar and curved surfaces.