System Identification and Force Estimation of a Grinding Tool

Normal force is one of the most important factors in the grinding and polishing process. This project focuses on system identification of the grinding tool Mini Robot, which can not only spin the grinding wheel but also actively control the force along with the shaft direction using a voice coil motor, achieving a fine grinding quality. This advantage can widely benefit many collaboration platforms such as an automation grinding platform with manipulator. System identification of this grinding tool was carried out to build a state observer feedback-control system. The force was estimated using the information on current and displacement of the voice coil motor. Feedback-control design can later be added into the system.