A POSITION-BASED EXPLICIT FORCE CONTROL STRATEGY BASED ON ONLINE TRAJECTORY PREDICTION

作者：Sheng, Xianjun^*; Xu, Lei; Wang, Zhou

来源：International Journal of Robotics and Automation, 2017, 32(1): 93-100.

DOI：10.2316/Journal.206.2017.1.206-4899

• Robot control
• compliant motion strategy
• trajectory prediction
• position-based explicit force control

In the mirror milling process of large thin-walled parts, maintaining a constant supporting force is crucial for improving the workpiece local stiffness to suppress vibration. Aiming at the flexible characteristics of large thin-walled parts, this work presents a position-based force explicit control strategy based on online trajectory prediction. An online trajectory pre-modification force controller is proposed, it contains a position pre-modification module and a typical feedback controller for coarse adjustment and precise adjustment. The position pre-modification value is obtained by online trajectory prediction, and the prediction method relies on an online force and normal direction measurement system. The position pre-modification module can reduce the interference of the flexible characteristics on the force control. Numerical simulation and experiment are carried out, the control results show: the performance of dynamic force tracking method proposed is improved compared with the traditional position-based explicit control strategy with a typical feedback controller.

• 出版日期2017
• 单位大连理工大学; 中国科学院电工研究所