Terminal sliding mode admittance control of surface polishing robot based on trajectory correction
In view of the poor stability of the traditional polishing robot force control algorithm in the position inner loop control,and to reduce the polishing trajectory error caused by the switching of force/position control algorithms,a termi-nal sliding mode admittance control method based on trajectory correction was proposed.In the polishing process,the posi-tion correction was generated according to the difference between the feedback parameters of the force sensor and the expec-ted force acting on the admittance model.Then,the terminal sliding mode control model was designed as the position inner loop control link,and the trajectory was tracked through the real-time feedback of the position correction.The actual trajectory information was used to modify the planning trajectory to reduce the polishing force error,so as to achieve high precision polishing effect.Simulation and experiments showed that the terminal sliding mode admit-tance control had good control effect.After the trajectory was corrected,the polishing force error was significantly improved compared with that before correction.The polished model showed that the average deviation of contour a-rithmetic was 0.035 pm.The polishing quality had been significantly improved.
NETL
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