Revision as of 11:59, 1 July 2024

Abstract

. This paper introduces a novel approach that combines the Unscented Kalman Filter with the Hunt-Crossley force model to accurately estimate the stiffness and damping characteristics at the contact point of a grinding process conducted by a flexible manipulator. The Hunt-Crossley force model is proposed for the force contact considering the flexibility of the manipulator structure and is written in a state form as functions of the contact stiffness and damping. Leveraging the Unscented Transform to linearize the nonlinear measurement functions, the Unscented Kalman Filter effectively estimates and updates the stiffness and damping parameters based on the state model. This method is put into practice in a real grinding scenario employing a flexible manipulator. Its practicality and convenience make it a promising technique for estimating operational machining parameters and developing an efficient vibration control strategy for machining applications.

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