Force/position Hybrid Control Method for Surface Parts Polishing Robot

Authors

Yufeng Ding, School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan 430070, China;
Xinpu Min, School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan 430070, China;

Abstract

Abstract: A force/position hybrid control method for polishing the complex surface with an industrial robot is put forward. The method can achieve the stable force control and precise position control to ensure the consistency of the material removal rate at different normal vectors. After the trajectory of the normal vector is planned in CAD software, the force signal feedback from the sensor and the PI controller in the normal vector direction are combined,and the robot end tool corrects the motion trajectory in the vector direction of the surface to indirectly control the contact force between the tool and the surface. As the robot polishing system with different polishing tools has different system stiffness, the adaptive PI control algorithm is proposed and can evaluate the stiffness of the polishing system and adjust the number of PI parameters to ensure the better contact force tracking performance. The simulation and experiment results show that the method can achieve nicely the polishing of the surface part.

Recommended Citation

Ding, Yufeng and Min, Xinpu (2020) "Force/position Hybrid Control Method for Surface Parts Polishing Robot," Journal of System Simulation: Vol. 32: Iss. 5, Article 8.
DOI: 10.16182/j.issn1004731x.joss.18-0526
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss5/8

First Page

817

Revised Date

2018-12-12

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0526

Last Page

825

CLC

TP242.3

Recommended Citation

Ding Yufeng, Min Xinpu. Force/position Hybrid Control Method for Surface Parts Polishing Robot[J]. Journal of System Simulation, 2020, 32(5): 817-825.

DOI

10.16182/j.issn1004731x.joss.18-0526