Research on Variable Admittance Control for Force-Controlled Polishing of Complex Surfaces
Aiming at the difficulty of simultaneously controlling the tool feed rate and contact force in the force-controlled polishing task of complex surfaces,analyze the reason why the force control quantity and the position control quantity interact with each other in the compliance control algorithm based on the clas-sic hybrid position/force framework under the condition that the expected feed rate of the tool and the di-rection of the contact force are time-varying.Therefore,a new compliance control algorithm based on time-varying hybrid position/force framework and adaptive admittance control is proposed.Use the contour cur-vature to correct the hybrid position/force framework in real time to reduce the coupling effect between the feed rate and the contact force control.And use the contact force error and the framework'correction rate to adaptively adjust the damping of the admittance control.Simulation results show that the proposed algorithm can solve the problem of non-convergence of contact force in time-varying force/position tracking of tradi-tional algorithms,and the proposed adaptive strategy can reduce the error by more than 80%.
robotforce-controlled polishingtime-varying hybrid position/force frameworkadaptive ad-mittance control
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维普
