An Adaptive Force Control Algorithm for Robotic Surface Machining

作者：Chen, Shou-Yan; Zhang, Tie^*

来源：Journal of South China University of Technology(Natural Science Edition), 2017, 45(2): 59-65.

DOI：10.3969/j.issn.1000-565X.2017.02.009

• Adaptive force control
• Feed-rates
• Force fluctuations
• Fuzzy-PID
• Machining deformation
• Machining quality
• Robotic machining
• Surface machining

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.

• 出版日期2017-2-1
• 单位华南理工大学