Abstract
At present, the traditional robot grinding has some shortcomings in output constant force control. As a result, the output force on the grinding object is frequently instable. Improper force can damage the object during grinding and lead huge economic loss. Therefore, how to improve the accuracy of the output force of robot grinding, has become an urgent problem to be solved. In this paper, aim to improve the grinding force control accuracy, a new control framework which is suitable for cylinder driven grinding device is proposed. The control framework is applied to control the cylinder output force of the grinding device, thereby improving the control ability of the high-precision grinding process robot. In the framework, a PID controller with nonlinear differential gain parameters is used, and parameters are optimized by using the Particle Swarm Optimization Algorithm (PSO). The proposed control method, based on the model of the actual cylinder driven grinding device, is verified in MATLAB. The results show that it controls the actual force of the grinding object near the ideal force accurately. The overshoot of the output force on the grinding object is zero and the system stability is very good.
Funded by National Natural Science Foundation of China(62173190, U1913207).
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Wen duo, J., Zi feng, J., Yu, D. (2022). Constant Force Control Method of Grinding Device. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13457. Springer, Cham. https://doi.org/10.1007/978-3-031-13835-5_34
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DOI: https://doi.org/10.1007/978-3-031-13835-5_34
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