Fuzzy adaptive impedance control of surface polishing robot
To enable the robot to achieve precise force control during the polishing of curved parts,a reasonable traj-ectory planning and gravity compensation analysis were carried out,and the influence of impedance control parame-ters on the steady-state error of force control was analyzed.A system stiffness model in the normal direction of the curved surface was established.To make the robot polishing system had better force tracking performance under dif-ferent system stiffnesses,a fuzzy adaptive impedance control model that could adapt to changes in system stiffness was proposed.This model adjusted impedance control parameters according to the force error and force error rate by certain fuzzy rules,so as to realize stable normal force control and position control.Simulation and experiments showed that the maximum error of force control of the fuzzy adaptive impedance control model was within±2 N,and the arithmetic mean deviation of the surface profile of the cylindrical concave curved workpiece polished by this model reaches 0.035μm,which was 59.7％lower than that of the traditional impedance control model,and the pol-ishing quality had also been significantly improved.
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