Research on Constant Force Control of Robot Grinding and Polishing Based on Fuzzy-Impedance Control
In order to improve the stability of force following and improve the surface quality of the work-piece during the grinding and polishing process of the robot,the grinding force control system of the robot was studied.Firstly,an impedance control method based on PID control law was designed,and the influence of the method on the force control system was analyzed by using the MATLAB/Simulink simulation plat-form.Secondly,the fuzzy strategy is integrated into the impedance control,and a new control method,fuzz-y-impedance control,is proposed.Finally,the simulation experiment and the physical experiment of the ro-bot platform are used to verify the new control method.The results show that under the new control meth-od,the tracking effect of the contact force at the end of the robot on the expected force is more obvious,and the constant force tracking performance of the force control system is improved,and the surface quality of the grinding workpiece is effectively improved.
robot grindingimpedance controlconstant force controlfuzzy strategy
万方数据
维普
