为提高机器人复杂曲面的切削加工质量，对机器人切削状态进行分析，提出了一种自适应的曲面切削力控制方法． 首先探讨了机器人刚度和进给速度对切削质量的影响，建立了冲击和稳态切削状态的动力学模型; 然后根据切削形变与进给速度的关系，建立了基于模糊PID 的力控制模型; 最后通过传感器的力反馈计算出切削形变，实时调整进给速度实现切削质量控制． 将文中方法与曲面切削开环控制和PID 控制方法进行对比，结果显示，与开环控制和PID 控制对比，基于模糊PID 的曲面切削力控制方法能有效减小切削过程中刚冲击力幅度和稳定切削的力波动，实现有效的曲面切削力控制．

In order to improve the quality of robotic surface machining,deferent robotic machining states are analyzed,and an adaptive force control scheme? is presented.In the investigation,first,the effects of robot stiffness and feed rate on the machining quality are explored,and a machining kinetic model including both impact part and stable grinding part is constructed.Next,a fuzzy PID-based force control model is established according to the relationship between the machining deformation and the feed rate.Then,the machining deformation is calculated according the force feedback,and the machining quality is controlled by adjusting the feed rate in real time.Finally,the proposed method,the open-loop method and the PID control method are compared,and the results show that the fuzzy PID-based surface force control method helps implement high-precision surface machining force control because it can effectively decrease the amplitude of rigid force fluctuation and impact force value.