Fuzzy adaptive impedance control of surface polishing robot

被引：0
|
作者：
Chen M. [1 ]
Zhu Z. [1 ]
Zhu Y. [1 ]
Han T. [1 ]
机构：
[1] School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan
来源：
Jisuanji Jicheng Zhizao Xitong/Computer Integrated Manufacturing Systems, CIMS | 2024年 / 30卷 / 06期
关键词：
fuzzy self-adaptation; impedance control; polishing; system stiffness;
D O I：
10.13196/j.cims.2021.0854
中图分类号：
学科分类号：
摘要：
To enable the robot to achieve precise force control during the polishing of curved parts, a reasonable trajectory planning and gravity compensation analysis were carried out, and the influence of impedance control parameters on the steady-state error of force control was analyzed. A system stiffness model in the normal direction of the curved surface was established. To make the robot polishing system had better force tracking performance under different system stiffnesses, a fuzzy adaptive impedance control model that could adapt to changes in system stiffness was proposed. This model adjusted impedance control parameters according to the force error and force error rate by certain fuzzy rules, so as to realize stable normal force control and position control. Simulation and experiments showed that the maximum error of force control of the fuzzy adaptive impedance control model was within ±2 N, and the arithmetic mean deviation of the surface profile of the cylindrical concave curved workpiece polished by this model reaches 0.035μm, which was 59.7% lower than that of the traditional impedance control model, and the polishing quality had also been significantly improved. © 2024 CIMS. All rights reserved.
引用
收藏
页码：2090 / 2099
页数：9
相关论文
共 20 条
  • [1] ZHANG Jiyao, HAN Jianhal, LIU Salsal, Et al., Active compliance control system for industrial robot polishing operations, Mechanical Science and Technology for Aerospace Engineering, 38, 6, pp. 909-914, (2019)
  • [2] HUANG Y C, LI S Q, HUANG Q., Robust impedance control for SEAs, Journal of the Franklin Institute, 357, 12, pp. 7921-7943, (2020)
  • [3] XU X H, CHEN W, ZHU D H, Et al., Hybrid active/passive force control strategy for grinding marks suppression and profile accuracy enhancement in robotic belt grinding of turbine blade[J], Robotics and Computer-Integrated Manufacturing, 67, (2021)
  • [4] SURDILOVIC D, ZHAO H Q, SCHRECK G., Et al., Advanced methods for small batch robotic machining of hard materials, Proceedings of the 7th German Conference on Robotics, (2012)
  • [5] NAGATA F, HASE T, HAGA Z, Et al., CAD/CAM-based position/force controller for a mold polishing robot [J], Mechatronics, 17, 4-5, pp. 207-216, (2007)
  • [6] HU H Y, CAO J F., Adaptive variable impedance control of dual-arm robots for slabstone installation, ISA Transactions, 128, pp. 397-408, (2022)
  • [7] LIU Zhe, ZOU Tao, SUN Wei, Et al., Impedance control of grinding robot combined with real-time optimization genetic algorithm, Control Theory and Applications, 35, 12, pp. 1788-1795, (2018)
  • [8] FAN Jianglong, Research on dynamic modeling and compliance control of polishing robot, (2019)
  • [9] LU Hang, QIAX Yawei, ZHANG Yuhang, Research on robot end contact force control system based on impedance control [J], Modern Machinery, 5, pp. 20-24, (2021)
  • [10] RAVANDI A K, KHANMIRZA E, DANESHJOU K., Hybrid force/position control of robotic arms manipulating in uncertain environments based on adaptive fuzzy sliding mode control, Applied Soft Computing, 70, pp. 864-874, (2018)
12