无先验模型曲面的机器人打磨主动自适应在线轨迹预测方法
郭万金,赵伍端,于苏扬,赵立军,曹雏清

Active adaptive online trajectory prediction for robotic grinding on surface without prior model
Wan-jin GUO,Wu-duan ZHAO,Su-yang YU,Li-jun ZHAO,Chu-qing CAO
图 18 圆台曲面铸铁工件
Fig.18 Cast iron workpiece with circular frustum surface