Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31903
Adaptive Control Strategy of Robot Polishing Force Based on Position Impedance

Authors: Wang Zhan-Xi, Zhang Yi-Ming, Chen Hang, Wang Gang


Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.

Keywords: robot polishing, force feedback, impedance control, adaptive control

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 316


[1] Y. J. Wang, Y. Huang, Y. X. Chen, and Z. S. Yang, "Model of an abrasive belt grinding surface removal contour and its application," (in English), International Journal of Advanced Manufacturing Technology, Article vol. 82. 9-12, pp. 2113-2122, Feb 2016.
[2] A. P. S. Arunachalam, S. Idapalapati, S. Subbiah, and Y. W. Lim, "A novel retractable stiffener-based disk-shaped active compliant polishing tool," Journal of Manufacturing Processes, vol. 51, pp. 83-94, 2020.
[3] K. Hosoda, K. Igarashi, and M. Asada, "Adaptive hybrid control for visual and force servoing in an unknown environment," IEEE Robotics & Automation Magazine, vol. 5. 4, pp. 39-43, 1998.
[4] G. Nazmara, M. M. Fateh, and S. M. Ahmadi, "A Robust Adaptive Impedance Control of Robots," in 2018 6th RSI International Conference on Robotics and Mechatronics (IcRoM), 2018, pp. 40-45.
[5] A. E. K. Mohammad, J. Hong, D. Wang, and Y. Guan, "Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications," Robotics and Computer-Integrated Manufacturing, vol. 55, pp. 65-75, 2019/02/01/ 2019.
[6] S. Yousefizadeh, J. D. D. F. Mendez, and T. Bak, "Trajectory adaptation for an impedance controlled cooperative robot according to an operator's force," Automation in Construction, vol. 103. JUL., pp. 213-220, 2019.
[7] T. Bo, Z. Xingwei, and D. Han, "Mobile-robotic machining for large complex components: A review study," 中国科学:技术科学, vol. 062. 008, pp. 1388-1400, 2019.
[8] Y. Zhou et al., "Global Vision-Based Impedance Control for Robotic Wall Polishing," in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019, pp. 6022-6027.
[9] H. Cao, X. Chen, Y. He, and X. Zhao, "Dynamic Adaptive Hybrid Impedance Control for Dynamic Contact Force Tracking in Uncertain Environments," IEEE Access, vol. 7, pp. 83162-83174, 2019.
[10] X. Xu, D. Zhu, H. Zhang, S. Yan, and H. Ding, "Application of novel force control strategies to enhance robotic abrasive belt grinding quality of aero-engine blades," Chinese Journal of Aeronautics, 2019.
[11] C. Fan, Z. Huan, L. Dingwei, C. Lin, T. Chao, and D. Han, "Contact force control and vibration suppression in robotic polishing with a smart end effector," Robotics Computer-Integrated Manufacturing, vol. 57. JUN., pp. 391-403, 2019.
[12] H. Huang, C. Yang, and C. L. P. Chen, "Optimal Robot-Environment Interaction Under Broad Fuzzy Neural Adaptive Control," IEEE Transactions on Cybernetics, pp. 1-12, 2020.
[13] M. Minami, H. Tanimoto, A. Yanou, and M. Takebayashi, "Continuous Shape-Grinding Experiment Based on Constraint-Combined Force/Position Hybrid Control Method," SICE Journal of Control, Measurement, System Integration, 2014.