Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-A new study on Robotics is now availab le. According to news originating from Wuhan, People's Republic of China, by New sRx correspondents, research stated, "High-accuracy, fast-response, and low-over shoot force control are important to guarantee the material removal accuracy and surface quality of robotic compliant grinding. In order to achieve the above ta rget, this study develops an active compliant force-controlled end-effector base d on a series elastic actuator for the robotic grinding of curved parts." Financial supporters for this research include National Natural Science Foundati on of China (NSFC), Natural Science Foundation of Hubei Province, National Natur al Science Foundation of China (NSFC), Natural Science Foundation of Hubei Provi nce. Our news journalists obtained a quote from the research from the Huazhong Univer sity of Science and Technology, "Firstly, a decoupled robotic grinding system co mposed of an industrial robot and an endeffector is developed, and a novel forc e-controlled end-effector is designed by adding an elastic component between the servo motor and the load to improve compliance. Secondly, the influences of the elastic component and grinding tool stiffness on the stability of the force-con trolled end-effector system are analyzed by establishing a contact model of the compliant end-effector and the transfer function of the entire force control sys tem. Then, the stiffness of the grinding tool and the elastic component are opti mized with full consideration of the system cutoff frequency and the end-effecto r compliance. To improve the force tracking accuracies of the developed complian t end-effector, a proportional-integral (PI) controller with first-order differe ntial force feedforward control is designed. Finally, grinding experiments are c onducted for verification. The effects of spring stiffness and grinding tool sti ffness on the force control system are tested, which match well with the theoret ical analysis. Grinding results show that the maximum force control error of the compliant force-controlled end-effector is decreased by 70% compa red to that of the rigid force-controlled end-effector, and the overshoot of the force control is reduced from 30 % to almost 0 under the same resp onse speed. The maximum and average absolute grinding depth errors using the des igned end-effector are reduced by 57.2% and 58.6%, re spectively, compared with those of the traditional rigid end-effector, and the a verage surface roughness of the finished part is reduced by 19.2 %."
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