Journal of South China University of Technology (Natural Science Edition) ›› 2017, Vol. 45 ›› Issue (2): 59-65.doi: 10.3969/j.issn.1000-565X.2017.02.009

• Mechanical Engineering • Previous Articles     Next Articles

An Adaptive Force Control Algorithm for Robotic Surface Machining

CHEN Shou-yan ZHANG Tie   

  1. School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China
  • Received:2016-05-17 Revised:2016-09-14 Online:2017-02-25 Published:2016-12-31
  • Contact: 张铁( 1968-) ，男，教授，博士生导师，主要从事工业机器人、服务机器人中的移动机器人的关键技术等研究． E-mail:merobot@scut.edu.cn
  • About author:陈首彦( 1986-) ，男，博士生，主要从事机器人磨削应用研究． E-mail: wabyzhu@ hotmail． com
  • Supported by:
    Supported by the National Science and Technology Major Project of China( 20152X04005006) and the Science and Technology Planning Project of Guangdong Province，China( 2014B090921004， 2015B010918002)

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Abstract:

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.

Key words: surface machining, machining quality, feed rate, robotic deformation, fuzzy PID-based force control model