Journal of South China University of Technology(Natural Science) >
An Adaptive Force Control Algorithm for Robotic Surface Machining
Received date: 2016-05-17
Revised date: 2016-09-14
Online published: 2016-12-31
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)
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.
CHEN Shou-yan ZHANG Tie . An Adaptive Force Control Algorithm for Robotic Surface Machining[J]. Journal of South China University of Technology(Natural Science), 2017 , 45(2) : 59 -65 . DOI: 10.3969/j.issn.1000-565X.2017.02.009
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