Research On Curved-Surface Constant Force Tracking Based On Robot Adaptive Impedance Control

As the current manufacturing industry continues to grow and the demand for machining increases,traditional manual machining methods are no longer able to meet the expanding market.At the same time,automated machining by robots has tremendous advantages in harsh machining environments,machining efficiency and machining quality.Robotic grinding and polishing is an important direction in manufacturing,and the quality of grinding and polishing depends on the tracking effect of contact force.In this paper,we will conduct an further study on the robot’s surface constant force tracking.This paper starts with an introduction to the independently built SRE4-600 six-axis robotic control platform to model the kinematics and dynamics of the robot.Gravity compensation is performed for the sixdimensional force/torque sensor and the end processing tool to ensure that the end tool force will be available regardless of the robot’s attitude.The robot attitude adjustment method is also designed to ensure that the end tool is perpendicular to the surface in real time during the contact tracking process with the surface,thus ensuring the adjustment of the contact force on the surface development.Then,the algorithm of variable impedance control of the robot is designed,and the change factors such as external stiffness and contact force are used as indicators for adjustment,and the parameters of impedance control are adjusted as variables,and the effectiveness of the method is verified from simulation and actual experiments to improve the real-time and stability of machine human tracking,so that the robot end contact force can track the desired force more accurately.Finally,the previously studied control algorithm and attitude adjustment method are applied to the actual grinding and polishing processing,and the filtering process is performed for the vibration generated when the grinding head opens and rotates.The adaptive impedance control can achieve a good robot softness effect and a significant improvement in contact force tracking by reading the surface normal contact force and machining the workpiece surface.