In order to improve the grinding and polishing precision of aero-engine blades and reduce the trajectory deviation of complex curved blades

the hybrid force/position control strategy was adopted to realize on-line correction of grinding and polishing trajectory. A blade grinding and polishing verification platform was built which based on Staubli robot and ATI six-axis force/torque sensor. The upper computer was developed by C++ to collect the information of force sensor and preform Kalman filter. Through the trajectory teaching

the robot trajectory and force/torque information were collected and analyzed. It is turn out that the trajectory of the robot can be corrected online based on the force/position hybrid control

which provides a solution for the trajectory control of blade grinding and polishing on complex curved surfaces.