Grinding Control Method of Robotic Active Compliance Constant-Force

doi:10.12068/j.issn.1005-3026.2023.01.013

Abstract

Abstract: In order to solve the problem of disturbance in grinding control system， a robotic force control end-effector is designed， and a grinding control method of robotic active compliance constant-force is proposed， based on the active disturbance rejection control and the fuzzy variable impedance control. A fuzzy variable impedance controller is adopted by the inner-loop control of the proposed method， and an active disturbance rejection grinding controller is adopted by the outer-loop control. Convergence of the tracking error to zero for the proposed method is guaranteed by the Lyapunov stability theory. The effectiveness and applicability of the proposed method are verified by the co-simulation and experiment. By comparing the proposed method and the PID controller， which is used to replace the outer-loop control， when the inner-loop control is same， the former has better ability to reduce force tracking error and position overshoot during simulation experiments. Meanwhile， using the proposed method， the control effects and the robustness of the force control system for the robotic grinding are improved， and the robotic compliant constant-force control is realized.

Key words: robotic grinding; active compliance; active disturbance rejection control; robotic end-effector; constant-force control

CLC Number:

TP242

GUO Wan-jin， YU Su-yang， ZHAO Wu-duan， CHEN Jie. Grinding Control Method of Robotic Active Compliance Constant-Force[J]. Journal of Northeastern University(Natural Science), 2023, 44(1): 89-100.

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