Research on Robot Grinding Force Control Method

Sun, MingJian; Guo, Kai; Sun, Jie

doi:10.1007/978-3-030-89098-8_77

Cited by 2 publications

(1 citation statement)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To resolve the issues of model construction and algorithm complexity that arise in the active flexibility control method, Yao et al [ 12 ] proposed a fuzzy PID smooth grinding control algorithm based on a two-degree-of-freedom constant force grinding device driven by pneumatic force, wherein the position and force are decoupled and controlled separately, and verified that the control precision and response time of the fuzzy PID control algorithm were better than those of the conventional PID control method. In addition, Sun et al [ 13 ] confirmed the effectiveness of the fuzzy PID control algorithm. Dai et al [ 14 ] also presented a backstepping + PID control method to closely track the applied force.…”

Section: Introductionmentioning

confidence: 99%

Research on Surface Tracking and Constant Force Control of a Grinding Robot

Shi

Yang

et al. 2023

Sensors

View full text Add to dashboard Cite

To improve the quality and efficiency of robot grinding, a design and a control algorithm for a robot used for grinding the surfaces of large, curved workpieces with unknown parameters, such as wind turbine blades, are proposed herein. Firstly, the structure and motion mode of the grinding robot are determined. Secondly, in order to solve the problem of complexity and poor adaptability of the algorithm in the grinding process, a force/position hybrid control strategy based on fuzzy PID is proposed which greatly improves the response speed and reduces the error of the static control strategy. Compared with normal PID, fuzzy PID has the advantages of variable parameters and strong adaptability; the hydraulic cylinder used to adjust the angle of the manipulator can control the speed offset within 0.27 rad/s, and the grinding process can be carried out directly without obtaining the specific model of the surface to be machined. Finally, the experiments are carried out, the grinding force and feed speed are maintained within the allowable error range of the expected value, and the results verify the feasibility and effectiveness of the position tracking and constant force control strategy in this paper. The surface roughness of the blade is maintained within Ra = 2~3 μm after grinding, which proves that the grinding quality meets the requirements of the best surface roughness required for the subsequent process.

show abstract

Section: Introductionmentioning

confidence: 99%