Efficient Process control methods are developed for finish grinding cast turbine blades using a programmably compliant robot. Work requirements are taught by human lead-through, and the workpiece's location and precise work requirements are discovered through compliant contact using the grinding tool as a probe. A parametric task strategy automatically generates grinding trajectories and arm compliances using CAD model data. In-process measurements of the part surface determines task completion. The system achieves high surface finishes, accommodates variable parts, and requires only a brief teaching session to program for new parts.
