A hybrid control strategy for grinding and polishing robot based on adaptive impedance control

Abstract

In order to realize the active and compliant motion of the robot, it is necessary to eliminate the impact caused by processing contact. A hybrid control strategy for grinding and polishing robot is proposed based on adaptive impedance control. Firstly, an electrically driven linear end effector is designed for the robot system. The macro and micro motions control model of the robot is established, by using impedance control method, which based on the contact model of the robot system and the environment. Secondly, the active compliance method is adopted to establish adaptive force control and position tracking control strategies under impact conditions. Finally, the algorithm is verified by Simulink simulation and experiment. The simulation results are as follows: The position tracking error does not exceed 0.009 m, and the steady-state error of the force is less than 1 N. The experimental results show that the motion curve coincides with the surface morphology of the workpiece, and the contact force is stable at 10 ± 3 N. The algorithm can realize more accurate position tracking and force tracking, and provide a reference for the grinding and polishing robot to realize surface processing.