%0 Journal Article
	%A Wang Zhan-Xi and  Zhang Yi-Ming and  Chen Hang and  Wang Gang
	%D 2021
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 177, 2021
	%T Adaptive Control Strategy of Robot Polishing Force Based on Position Impedance
	%U https://publications.waset.org/pdf/10012275
	%V 177
	%X 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.
	%P 427 - 433