Research and application on force control of industrial robot polishing concave curved surfaces

Ding, Yucheng; Min, Xinpu; Fu, Weiwei; Liang, Zilong

doi:10.1177/0954405418802309

Cited by 39 publications

(16 citation statements)

References 11 publications

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“…The method could avoid over-ground area on the blisk. Ding et al [28] proposed a method combining force feedback and generated trajectory, in which an adaptive proportional-integral control algorithm was developed to guarantee to evaluate the stiffness of polishing system and to adjust the relevant parameters. The method could improve polished surface qualities experimentally.…”

Section: Low-mrr Operationsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

267

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For the past three decades, robotic machining has attracted a large amount of research interest owning to the benefit of cost efficiency, high flexibility and multi-functionality of industrial robot. Covering articles published on the subjects of robotic machining in the past 30 years or so; this paper aims to provide an up-to-date review of robotic machining research works, a critical analysis of publications that publish the research works, and an understanding of the future directions in the field. The research works are organised into two operation categories, low material removal rate (MRR) and high MRR, according their machining properties, and the research topics are reviewed and highlighted separately. Then, a set of statistical analysis is carried out in terms of published years and countries. Towards an applicable robotic machining, the future trends and key research points are identified at the end of this paper.

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Section: Low-mrr Operationsmentioning

confidence: 99%

Industrial robotic machining: a review

Wang

2019

Int J Adv Manuf Technol

267

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“…Zhang et al [5] proposed a collision-free planning algorithm for the robot's grinding path, which reduced the number of collision detections and improved efficiency of grinding. Ding et al [6] based on the automatic polishing system of industrial robots, a polishing method with force-displacement coupling control is proposed, which can effectively achieve concave surface polishing. Tian et al [7] proposed the algorithm for generating the position and posture of the robot tool and the tool gravity compensation algorithm to achieve constant polishing pressure control and improve the quality of the processed surface.…”

Section: Introductionmentioning

confidence: 99%

Theoretical modeling and experimental research on the depth of radial material removal for flexible grinding

Zheng

Chen

Zhang

et al. 2021

Int J Adv Manuf Technol

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Abrasive belt flap wheel has large elastic deformation, which can better fit the surface of aero-engine blades. Reasonable control of the depth of radial material removal can effectively improve the grinding efficiency and profile accuracy of the blade surface. The depth of radial material removal for flexible grinding was studied through the process parameters in this article. First, the material removal rate model was established based on Hertz elastic contact theory and Preston equation. Then, according to the principle of equivalent material removal volume, a noval approach to determine the depth of radial material removal was proposed. Finally, the experiments for both plane and surface were implemented on a vertical machining center. The results indicate that the proposed method can improve the accuracy and consistency for flexible grinding.

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“…An adaptive fuzzy backstepping position tracking control scheme was proposed for multirobot manipulator systems, and extra terms were also added to the control signals to consider the force tracking problem by utilizing the properties of internal forces in [29]. Accurate and robust force/twist control is still a great challenge for robot-environment contact applications, such as in drilling operations [30], polishing [31][32][33], welding [34], and surgical tasks [35].…”

Section: Introductionmentioning

confidence: 99%

Constant Force PID Control for Robotic Manipulator Based on Fuzzy Neural Network Algorithm

Zhu

Puchen

et al. 2020

Complexity

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The increased demand for robotic manipulator has driven the development of industrial manufacturing. In particular, the trajectory tracking and contact constant force control of the robotic manipulator for the working environment under contact condition has become popular because of its high precision and quality operation. However, the two factors are opposite, that is to say, to maintain constant force control, it is necessary to make limited adjustment to the trajectory. It is difficult for the traditional PID controller because of the complexity parameters and nonlinear characteristics. In order to overcome this issue, a PID controller based on fuzzy neural network algorithm is developed in this paper for tracking the trajectory and contact constant force simultaneously. Firstly, the kinetic and potential energy is calculated, and the Lagrange function is constructed for a two-link robotic manipulator. Furthermore, a precise dynamic model is built for analyzing. Secondly, fuzzy neural network algorithm is proposed, and two kinds of turning parameters are derived for trajectory tracking and contact constant force control. Finally, numerical simulation results are reported to demonstrate the effectiveness of the proposed method.

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Research and application on force control of industrial robot polishing concave curved surfaces

Cited by 39 publications

References 11 publications

Industrial robotic machining: a review

Industrial robotic machining: a review

Theoretical modeling and experimental research on the depth of radial material removal for flexible grinding

Constant Force PID Control for Robotic Manipulator Based on Fuzzy Neural Network Algorithm

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